{"id":"https://openalex.org/W2804117224","doi":"https://doi.org/10.1109/icra.2019.8793493","title":"Visual Representations for Semantic Target Driven Navigation","display_name":"Visual Representations for Semantic Target Driven Navigation","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2804117224","doi":"https://doi.org/10.1109/icra.2019.8793493","mag":"2804117224"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1805.06066","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021728625","display_name":"Arsalan Mousavian","orcid":"https://orcid.org/0000-0001-9356-9455"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arsalan Mousavian","raw_affiliation_strings":["George Mason University","#N#George Mason University#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"#N#George Mason University#N#","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064265174","display_name":"Alexander Toshev","orcid":"https://orcid.org/0000-0003-0925-638X"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Toshev","raw_affiliation_strings":["Robotics at Google","Google,,,,,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"Google,,,,,","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004095912","display_name":"Marek Fi\u0161er","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marek Fiser","raw_affiliation_strings":["Robotics at Google"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086078885","display_name":"Jana Ko\u0161eck\u00e1","orcid":"https://orcid.org/0000-0003-4619-3277"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jana Kosecka","raw_affiliation_strings":["George Mason University","#N#George Mason University#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University","institution_ids":["https://openalex.org/I162714631"]},{"raw_affiliation_string":"#N#George Mason University#N#","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051147070","display_name":"Ayzaan Wahid","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ayzaan Wahid","raw_affiliation_strings":["Robotics at Google"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102842032","display_name":"James C. Davidson","orcid":"https://orcid.org/0000-0003-3504-820X"},"institutions":[{"id":"https://openalex.org/I4210151945","display_name":"Third Wave Systems (United States)","ror":"https://ror.org/04m7z7z76","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Davidson","raw_affiliation_strings":["Third Wave Automation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Third Wave Automation","institution_ids":["https://openalex.org/I4210151945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":36,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8846","last_page":"8852"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998999834060669,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998999834060669,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"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/computer-science","display_name":"Computer science","score":0.8146870136260986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7017089128494263},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5776868462562561},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5684083104133606},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5521857738494873},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.539359986782074},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4704747796058655},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.45642656087875366},{"id":"https://openalex.org/keywords/spatial-contextual-awareness","display_name":"Spatial contextual awareness","score":0.4415222704410553},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43013426661491394},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.4267456829547882},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.42291074991226196},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4151607155799866}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8146870136260986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7017089128494263},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5776868462562561},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5684083104133606},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5521857738494873},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.539359986782074},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4704747796058655},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.45642656087875366},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.4415222704410553},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43013426661491394},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.4267456829547882},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.42291074991226196},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4151607155799866},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2019.8793493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1805.06066","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1805.06066","pdf_url":"https://arxiv.org/pdf/1805.06066","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2804117224","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1805.06066","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1805.06066","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1805.06066","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1805.06066","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1805.06066","pdf_url":"https://arxiv.org/pdf/1805.06066","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2804117224.pdf","grobid_xml":"https://content.openalex.org/works/W2804117224.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1861492603","https://openalex.org/W1986014385","https://openalex.org/W2064675550","https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2343077198","https://openalex.org/W2418628973","https://openalex.org/W2460657278","https://openalex.org/W2461937780","https://openalex.org/W2551579061","https://openalex.org/W2557465155","https://openalex.org/W2567015638","https://openalex.org/W2584009249","https://openalex.org/W2593769898","https://openalex.org/W2593841437","https://openalex.org/W2754261200","https://openalex.org/W2755286543","https://openalex.org/W2770679144","https://openalex.org/W2772390515","https://openalex.org/W2774005037","https://openalex.org/W2775954438","https://openalex.org/W2783375473","https://openalex.org/W2795911278","https://openalex.org/W2882977163","https://openalex.org/W2951660448","https://openalex.org/W2952865063","https://openalex.org/W2962684798","https://openalex.org/W2962887844","https://openalex.org/W2962899390","https://openalex.org/W2962917939","https://openalex.org/W2962957005","https://openalex.org/W2962957031","https://openalex.org/W2963276406","https://openalex.org/W2963826681","https://openalex.org/W2963872524","https://openalex.org/W2964043796","https://openalex.org/W2964350391","https://openalex.org/W3021208093","https://openalex.org/W6620707391","https://openalex.org/W6639102338","https://openalex.org/W6639480849","https://openalex.org/W6640174482","https://openalex.org/W6694260854","https://openalex.org/W6715287400","https://openalex.org/W6717018068","https://openalex.org/W6729788943","https://openalex.org/W6731334075","https://openalex.org/W6743790455","https://openalex.org/W6746348303","https://openalex.org/W6746518932","https://openalex.org/W6746914971","https://openalex.org/W6746993245","https://openalex.org/W6747912417","https://openalex.org/W6750106230","https://openalex.org/W6752960315"],"related_works":["https://openalex.org/W2962887844","https://openalex.org/W2884565639","https://openalex.org/W2967853831","https://openalex.org/W2194775991","https://openalex.org/W2964935470","https://openalex.org/W2964043796","https://openalex.org/W2963800628","https://openalex.org/W2953127211","https://openalex.org/W2145339207","https://openalex.org/W3095605783","https://openalex.org/W3085882459","https://openalex.org/W3176468608","https://openalex.org/W2569100269","https://openalex.org/W3137627965","https://openalex.org/W3207382565","https://openalex.org/W2783375473","https://openalex.org/W2776202271","https://openalex.org/W2774005037","https://openalex.org/W2567015638","https://openalex.org/W2064675550"],"abstract_inverted_index":{"What":[0],"is":[1,20],"a":[2,24,30,35,46,94,181,188],"good":[3],"visual":[4,17],"representation":[5,141],"for":[6,56,122,180,187],"navigation?":[7],"We":[8,75],"study":[9],"this":[10],"question":[11],"in":[12,107,169,174],"the":[13,21,41,99,120,132,136,140,143,157,167,172],"context":[14],"of":[15,23,44,50,65,104,135,171],"semantic":[16,48,72,79],"navigation,":[18,57],"which":[19],"problem":[22],"robot":[25],"finding":[26],"its":[27],"way":[28],"through":[29],"previously":[31],"unseen":[32],"environment":[33,52],"to":[34,40,77,97,130,150,166,178],"target":[36,168],"object,":[37],"e.g.":[38],"go":[39],"refrigerator.":[42],"Instead":[43],"acquiring":[45],"metric":[47],"map":[49],"an":[51],"and":[53,71,81,92,115,118,142,185],"using":[54,113],"planning":[55],"our":[58],"approach":[59,163],"learns":[60],"navigation":[61,100,144],"policies":[62],"on":[63,156],"top":[64],"representations":[66,106],"that":[67],"capture":[68],"spatial":[69],"layout":[70],"contextual":[73],"cues.":[74],"propose":[76],"use":[78,93],"segmentation":[80],"detection":[82],"masks":[83],"as":[84,154],"observations":[85],"obtained":[86],"by":[87],"state-of-the-art":[88],"computer":[89],"vision":[90],"algorithms":[91],"deep":[95],"network":[96],"learn":[98],"policy.":[101],"The":[102],"availability":[103],"equitable":[105],"simulated":[108,116],"environments":[109,153],"enables":[110],"joint":[111],"training":[112],"real":[114,151],"data":[117],"alleviates":[119],"need":[121],"domain":[123,126],"adaptation":[124],"or":[125],"randomization":[127],"commonly":[128],"used":[129],"tackle":[131],"sim-to-real":[133],"transfer":[134],"learned":[137],"policies.":[138],"Both":[139],"policy":[145],"can":[146],"be":[147],"readily":[148],"applied":[149],"non-synthetic":[152],"demonstrated":[155],"Active":[158],"Vision":[159],"Dataset":[160],"[1].":[161],"Our":[162],"successfully":[164],"gets":[165],"54%":[170],"cases":[173],"unexplored":[175],"environments,":[176],"compared":[177],"46%":[179],"non-learning":[182],"based":[183],"approach,":[184],"28%":[186],"learning-based":[189],"baseline.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}