{"id":"https://openalex.org/W7162991650","doi":"https://doi.org/10.1109/arso68304.2026.11536139","title":"Deep Reinforcement Learning with Priority Map Bias for Autonomous Cleaning-Audit Robots","display_name":"Deep Reinforcement Learning with Priority Map Bias for Autonomous Cleaning-Audit Robots","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7162991650","doi":"https://doi.org/10.1109/arso68304.2026.11536139"},"language":null,"primary_location":{"id":"doi:10.1109/arso68304.2026.11536139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso68304.2026.11536139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089170493","display_name":"Thejus Pathmakumar","orcid":"https://orcid.org/0000-0002-4010-570X"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Thejus Pathmakumar","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development,Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068621996","display_name":"Braulio F\u00e9lix G\u00f3mez","orcid":"https://orcid.org/0000-0002-1425-2319"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Braulio F\u00e9lix G\u00f3mez","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development,Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087578205","display_name":"Manivannan Kalimuthu","orcid":"https://orcid.org/0000-0002-5169-8037"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Manivannan Kalimuthu","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development,Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043069613","display_name":"Manojkumar Devarassu","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Manojkumar Devarassu","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development,Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023835965","display_name":"Prabakaran Veerajagadheswar","orcid":"https://orcid.org/0000-0002-5612-2619"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Prabakaran Veerajagadheswar","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development,Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041057723","display_name":"Mohan Rajesh Elara","orcid":"https://orcid.org/0000-0001-6504-1530"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mohan Rajesh Elara","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development,Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.88729813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"169","last_page":"175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.16850000619888306,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.16850000619888306,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13287","display_name":"Robotic Process Automation Applications","score":0.10199999809265137,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.06019999831914902,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5831000208854675},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4830000102519989},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39980000257492065},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3391999900341034},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3296999931335449},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.3142000138759613}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5874999761581421},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5831000208854675},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5766000151634216},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4830000102519989},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39980000257492065},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3391999900341034},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3296999931335449},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30230000615119934},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.2976999878883362},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.29409998655319214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2775000035762787},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/arso68304.2026.11536139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso68304.2026.11536139","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.5132489204406738,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1968836781","https://openalex.org/W2156951624","https://openalex.org/W2598842133","https://openalex.org/W2795255971","https://openalex.org/W2803274829","https://openalex.org/W2848676021","https://openalex.org/W2893266862","https://openalex.org/W2898818922","https://openalex.org/W2913078541","https://openalex.org/W2914365515","https://openalex.org/W2952122856","https://openalex.org/W2958363987","https://openalex.org/W3000637312","https://openalex.org/W3015204527","https://openalex.org/W3029079934","https://openalex.org/W3033454845","https://openalex.org/W3122963056","https://openalex.org/W3138939485","https://openalex.org/W3164039087","https://openalex.org/W3175865716","https://openalex.org/W3184210206","https://openalex.org/W3192244623","https://openalex.org/W3192902877","https://openalex.org/W3203186209","https://openalex.org/W4200495508","https://openalex.org/W4220829754","https://openalex.org/W4221117306","https://openalex.org/W4225293044","https://openalex.org/W4313395568","https://openalex.org/W4323543341","https://openalex.org/W4399334188","https://openalex.org/W4404334660","https://openalex.org/W4406881428","https://openalex.org/W4412379118"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"cleaning":[1,145],"auditing":[2],"requires":[3],"effective":[4],"path":[5],"planning":[6,21],"to":[7,45,47,54,60],"gather":[8],"representative":[9],"dirt":[10,48,127],"samples":[11],"over":[12],"large":[13],"areas.":[14],"This":[15],"paper":[16],"presents":[17],"a":[18,55,118],"novel":[19],"audit-path":[20],"method":[22],"using":[23],"deep":[24],"reinforcement":[25],"learning":[26,93],"(DRL)":[27],"guided":[28],"by":[29],"priority":[30,34,82,90,140],"maps.":[31],"A":[32],"2D":[33],"map":[35,83,91,141],"is":[36],"constructed":[37],"from":[38],"the":[39,89,136],"spatial":[40],"distribution":[41],"of":[42,139],"objects":[43],"likely":[44],"contribute":[46],"accumulation":[49],"and":[50,64,73,80,97],"provided":[51],"as":[52],"input":[53],"DRL":[56,68],"agent":[57],"that":[58,87],"learns":[59],"select":[61],"motion":[62],"primitives":[63],"sampling":[65],"actions.":[66],"Three":[67],"algorithms,":[69],"namely":[70],"A3C,":[71],"PPO,":[72,134],"MARWIL,":[74],"are":[75,108],"evaluated":[76],"in":[77,102,117],"simulation":[78],"with":[79],"without":[81],"guidance.":[84],"Results":[85],"show":[86],"incorporating":[88],"improves":[92],"efficiency,":[94],"accelerates":[95],"convergence,":[96],"yields":[98],"better":[99],"audit":[100,115],"paths":[101],"high-priority":[103],"regions.":[104],"The":[105,122],"trained":[106],"policies":[107],"validated":[109],"on":[110],"BELUGA,":[111],"an":[112],"in-house":[113],"developed":[114],"robot,":[116],"real":[119],"indoor":[120],"environment.":[121],"MARWIL-based":[123],"policy":[124],"achieved":[125],"higher":[126],"sample":[128],"collection":[129],"per":[130],"unit":[131],"distance":[132],"than":[133],"confirming":[135],"practical":[137],"benefit":[138],"guidance":[142],"for":[143],"autonomous":[144],"audits.":[146]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-06-02T00:00:00"}