{"id":"https://openalex.org/W4410492703","doi":"https://doi.org/10.1109/cicc63670.2025.10983508","title":"A 28-nm Real-Time Reinforcement Learning Processor for Mapless Autonomous Navigation with Unified Actor-Critic Network and Inference-on-Request Scheduling","display_name":"A 28-nm Real-Time Reinforcement Learning Processor for Mapless Autonomous Navigation with Unified Actor-Critic Network and Inference-on-Request Scheduling","publication_year":2025,"publication_date":"2025-04-13","ids":{"openalex":"https://openalex.org/W4410492703","doi":"https://doi.org/10.1109/cicc63670.2025.10983508"},"language":"en","primary_location":{"id":"doi:10.1109/cicc63670.2025.10983508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cicc63670.2025.10983508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Custom Integrated Circuits Conference (CICC)","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/A5103179495","display_name":"Juyoung Oh","orcid":"https://orcid.org/0000-0001-9122-9334"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Juyoung Oh","raw_affiliation_strings":["Seoul National University,Seoul,Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Seoul,Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069285332","display_name":"Jie-Xin Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jie-Xin Liu","raw_affiliation_strings":["National Yang Ming Chiao Tung University,Hsinchu,Taiwan"],"affiliations":[{"raw_affiliation_string":"National Yang Ming Chiao Tung University,Hsinchu,Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037437168","display_name":"Yi-Chen Teng","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yi-Chen Teng","raw_affiliation_strings":["National Yang Ming Chiao Tung University,Hsinchu,Taiwan"],"affiliations":[{"raw_affiliation_string":"National Yang Ming Chiao Tung University,Hsinchu,Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077096815","display_name":"Hsueh-Cheng Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hsueh-Cheng Wang","raw_affiliation_strings":["National Yang Ming Chiao Tung University,Hsinchu,Taiwan"],"affiliations":[{"raw_affiliation_string":"National Yang Ming Chiao Tung University,Hsinchu,Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053248335","display_name":"Dongsuk Jeon","orcid":"https://orcid.org/0000-0002-0395-8076"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongsuk Jeon","raw_affiliation_strings":["Seoul National University,Seoul,Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University,Seoul,Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103179495"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":1.2892,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79947116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"3"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.953000009059906,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9419999718666077,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7865491509437561},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7645132541656494},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.7047198414802551},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6382312774658203},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4570882022380829},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45176416635513306},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3884653151035309},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10466518998146057}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7865491509437561},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7645132541656494},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.7047198414802551},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6382312774658203},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4570882022380829},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45176416635513306},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3884653151035309},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10466518998146057},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cicc63670.2025.10983508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cicc63670.2025.10983508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Custom Integrated Circuits Conference (CICC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2002555321","https://openalex.org/W2905224739","https://openalex.org/W2920954974","https://openalex.org/W2963428623","https://openalex.org/W2968983352","https://openalex.org/W3183385172","https://openalex.org/W3207080284","https://openalex.org/W4280530977","https://openalex.org/W4293099009","https://openalex.org/W4322730824","https://openalex.org/W4385656339","https://openalex.org/W4389667358","https://openalex.org/W6684921986","https://openalex.org/W6748839928","https://openalex.org/W6750645735","https://openalex.org/W6780404908","https://openalex.org/W6862899333"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2964765435"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1,25,76,142,179],"represents":[2],"the":[3,16,98,114,130,133,150],"task":[4],"of":[5,132,171],"navigating":[6],"between":[7],"points":[8],"without":[9,37,87],"human":[10],"intervention.":[11],"In":[12],"many":[13],"real-world":[14],"scenarios,":[15],"maps":[17,91],"are":[18],"unavailable":[19],"or":[20],"unreliable,":[21],"necessitating":[22],"robust":[23],"mapless":[24,75],"techniques":[26],"that":[27],"rely":[28],"solely":[29],"on":[30,89],"local":[31],"observations":[32],"and":[33,65,69,174],"target":[34],"position":[35],"information":[36],"access":[38],"to":[39,82,84,112,140,182],"global":[40],"map":[41],"data":[42],"[1].":[43],"Deep":[44,101,153],"Reinforcement":[45],"Learning":[46],"(DRL)":[47],"has":[48],"emerged":[49],"as":[50,58,97,149,164],"a":[51,167],"viable":[52],"solution":[53],"for":[54,74,80,117],"complex":[55],"tasks":[56,180],"such":[57,96,148],"motion":[59],"control":[60],"[2],":[61],"game":[62],"playing":[63],"[3],":[64],"autonomous":[66,141],"driving":[67],"[4],":[68],"it":[70,78],"is":[71,175],"particularly":[72],"effective":[73],"since":[77],"allows":[79],"systems":[81],"adapt":[83],"new":[85],"environments":[86],"relying":[88],"predefined":[90],"[5].":[92],"Traditional":[93],"DRL":[94],"approaches":[95],"Twin":[99],"Delayed":[100],"Deterministic":[102,154],"Policy":[103,155],"Gradient":[104,156],"(TD3)":[105],"algorithm":[106,158],"[6]":[107],"use":[108],"scalar":[109],"Q":[110,124,162],"values":[111,125,163],"represent":[113],"expected":[115],"reward":[116,172],"specific":[118],"observation-action":[119],"pairs":[120],"[7].":[121],"However,":[122],"those":[123],"may":[126],"not":[127],"effectively":[128],"capture":[129],"uncertainty":[131],"value":[134],"function,":[135],"undermining":[136],"reliability":[137],"when":[138],"applied":[139],"[8].":[143],"Contrarily,":[144],"distributional":[145],"reinforcement":[146],"learning":[147],"Distributed":[151],"Distributional":[152],"(D4PG)":[157],"[9],":[159],"which":[160],"models":[161],"distributions,":[165],"provides":[166],"more":[168],"comprehensive":[169],"understanding":[170],"structures":[173],"commonly":[176],"employed":[177],"in":[178],"due":[181],"its":[183],"superior":[184],"performance":[185],"[10]\u2013[12].":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}