{"id":"https://openalex.org/W4387088107","doi":"https://doi.org/10.1109/ecmr59166.2023.10256414","title":"Context-Conditional Navigation with a Learning-Based Terrain- and Robot-Aware Dynamics Model","display_name":"Context-Conditional Navigation with a Learning-Based Terrain- and Robot-Aware Dynamics Model","publication_year":2023,"publication_date":"2023-09-04","ids":{"openalex":"https://openalex.org/W4387088107","doi":"https://doi.org/10.1109/ecmr59166.2023.10256414"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr59166.2023.10256414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr59166.2023.10256414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","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/A5032033175","display_name":"Suresh Guttikonda","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Suresh Guttikonda","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112617537","display_name":"Jan Achterhold","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Achterhold","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088592356","display_name":"Haolong Li","orcid":"https://orcid.org/0000-0002-1761-6907"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Haolong Li","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038908529","display_name":"Joschka Boedecker","orcid":"https://orcid.org/0000-0002-3486-7345"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joschka Boedecker","raw_affiliation_strings":["University of Freiburg,Germany","University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"University of Freiburg,Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085424314","display_name":"Joerg Stueckler","orcid":"https://orcid.org/0000-0002-2328-4363"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joerg Stueckler","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032033175"],"corresponding_institution_ids":["https://openalex.org/I161046081","https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":0.3611,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.60244272,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.996999979019165,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.996999979019165,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8504562973976135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6925424933433533},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6711263060569763},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6359228491783142},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6011918783187866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5228784084320068},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4907280206680298},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.48599013686180115},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4815009832382202},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43128103017807007},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.41682934761047363},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.385356605052948},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2067650854587555},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0633808970451355}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8504562973976135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6925424933433533},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6711263060569763},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6359228491783142},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6011918783187866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5228784084320068},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4907280206680298},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.48599013686180115},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4815009832382202},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43128103017807007},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.41682934761047363},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.385356605052948},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2067650854587555},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0633808970451355},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ecmr59166.2023.10256414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr59166.2023.10256414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:uni-augsburg.opus-bayern.de:107572","is_oa":false,"landing_page_url":"https://opus.bibliothek.uni-augsburg.de/opus4/frontdoor/index/index/docId/107572","pdf_url":null,"source":{"id":"https://openalex.org/S4306400930","display_name":"OPUS (Augsburg University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119916105","host_organization_name":"Augsburg University","host_organization_lineage":["https://openalex.org/I119916105"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conferenceobject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1577352482","https://openalex.org/W2118688707","https://openalex.org/W2140135625","https://openalex.org/W2157331557","https://openalex.org/W2281096776","https://openalex.org/W2739253758","https://openalex.org/W2897373036","https://openalex.org/W2962872206","https://openalex.org/W2963402657","https://openalex.org/W3034752558","https://openalex.org/W3049379553","https://openalex.org/W3106549592","https://openalex.org/W3120991176","https://openalex.org/W3127756416","https://openalex.org/W3132475459","https://openalex.org/W3174118731","https://openalex.org/W3181484951","https://openalex.org/W3200223366","https://openalex.org/W3216981741","https://openalex.org/W4287636540","https://openalex.org/W4289294484","https://openalex.org/W6677477928","https://openalex.org/W6680657880","https://openalex.org/W6712884540","https://openalex.org/W6752968661","https://openalex.org/W6756256016","https://openalex.org/W6767975761","https://openalex.org/W6777635358","https://openalex.org/W6782399914","https://openalex.org/W6784360937","https://openalex.org/W6790823767","https://openalex.org/W6804705574"],"related_works":["https://openalex.org/W2131012217","https://openalex.org/W2131357063","https://openalex.org/W4285089922","https://openalex.org/W4386721837","https://openalex.org/W2139992381","https://openalex.org/W2100236280","https://openalex.org/W2786412097","https://openalex.org/W1539483014","https://openalex.org/W260566294","https://openalex.org/W1968704373"],"abstract_inverted_index":{"In":[0,67,129],"autonomous":[1,56],"navigation":[2,114,161],"settings,":[3],"several":[4],"quantities":[5],"can":[6],"be":[7,60],"subject":[8],"to":[9,62,64,86,88,147],"variations.":[10,66,91],"Terrain":[11],"properties":[12,176],"such":[13,65],"as":[14],"friction":[15,127],"coefficients":[16],"may":[17,34],"vary":[18],"over":[19],"time":[20],"depending":[21],"on":[22,94,103,156],"the":[23,26,29,32,42,89,132,140,157],"location":[24],"of":[25,31,142,160],"robot.":[27],"Also,":[28],"dynamics":[30,79,100],"robot":[33,119,173],"change":[35],"due":[36],"to,":[37],"e.g.,":[38],"different":[39,121],"payloads,":[40],"changing":[41,49],"system's":[43],"mass,":[44],"or":[45,52],"wear":[46],"and":[47,76,120,174],"tear,":[48],"actuator":[50],"gains":[51],"joint":[53],"friction.":[54],"An":[55],"agent":[57],"should":[58],"thus":[59],"able":[61,85],"adapt":[63,87],"this":[68],"paper,":[69],"we":[70],"develop":[71],"a":[72,111,117],"novel":[73],"probabilistic,":[74],"terrain-":[75],"robot-aware":[77],"forward":[78,99],"model,":[80],"termed":[81],"TRADYN,":[82],"which":[83,163],"is":[84],"above-mentioned":[90],"It":[92],"builds":[93],"recent":[95],"advances":[96],"in":[97,110,167],"meta-learning":[98],"models":[101],"based":[102],"Neural":[104],"Processes.":[105],"We":[106,151],"evaluate":[107,153],"our":[108,130,154],"method":[109],"simulated":[112],"2D":[113],"setting":[115],"with":[116,124],"unicycle-like":[118],"terrain":[122,175],"layouts":[123],"spatially":[125],"varying":[126],"coefficients.":[128],"experiments,":[131],"proposed":[133],"model":[134,155],"exhibits":[135],"lower":[136],"prediction":[137],"error":[138],"for":[139],"task":[141,159],"long-horizon":[143],"trajectory":[144],"prediction,":[145],"compared":[146],"non-adaptive":[148],"ablation":[149],"models.":[150],"also":[152],"downstream":[158],"planning,":[162],"demonstrates":[164],"improved":[165],"performance":[166],"planning":[168],"control-efficient":[169],"paths":[170],"by":[171],"taking":[172],"into":[177],"account.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}