{"id":"https://openalex.org/W3010750023","doi":"https://doi.org/10.1109/icra40945.2020.9196922","title":"Active Reward Learning for Co-Robotic Vision Based Exploration in Bandwidth Limited Environments","display_name":"Active Reward Learning for Co-Robotic Vision Based Exploration in Bandwidth Limited Environments","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3010750023","doi":"https://doi.org/10.1109/icra40945.2020.9196922","mag":"3010750023"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.05016","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026786490","display_name":"Stewart Jamieson","orcid":"https://orcid.org/0000-0003-4842-0373"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Stewart Jamieson","raw_affiliation_strings":["MIT-WHOI Joint Program in Applied Ocean Science and Engineering"],"affiliations":[{"raw_affiliation_string":"MIT-WHOI Joint Program in Applied Ocean Science and Engineering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Department of Aeronautics and Astronautics at the Massachusetts, Institute of Technology (MIT)"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics at the Massachusetts, Institute of Technology (MIT)","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072400128","display_name":"Yogesh Girdhar","orcid":"https://orcid.org/0000-0001-9510-9639"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yogesh Girdhar","raw_affiliation_strings":["Applied Ocean Physics and Engineering Department, The Woods Hole Oceanographic Institution (WHOI)"],"affiliations":[{"raw_affiliation_string":"Applied Ocean Physics and Engineering Department, The Woods Hole Oceanographic Institution (WHOI)","institution_ids":["https://openalex.org/I66958751"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026786490"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9811,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.77791594,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9976000189781189,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9976000189781189,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9930999875068665,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.982699990272522,"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/regret","display_name":"Regret","score":0.8451613187789917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7322686910629272},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6298888921737671},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5845293998718262},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.5762392282485962},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4554547667503357},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41974806785583496},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3502779006958008}],"concepts":[{"id":"https://openalex.org/C50817715","wikidata":"https://www.wikidata.org/wiki/Q79895177","display_name":"Regret","level":2,"score":0.8451613187789917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7322686910629272},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6298888921737671},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5845293998718262},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.5762392282485962},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4554547667503357},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41974806785583496},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3502779006958008},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.05016","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.05016","pdf_url":"https://arxiv.org/pdf/2003.05016","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":null,"raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/137153","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137153","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"Article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/137153.2","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/137153.2","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.05016","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.05016","pdf_url":"https://arxiv.org/pdf/2003.05016","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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5836192732","display_name":"NRI: INT: Co-Multi-Robotic Exploration of the Benthic Seafloor - New Methods for Distributed Scene Understanding and Exploration in the Presence of Communication Constraints","funder_award_id":"1734400","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308861","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W24323385","https://openalex.org/W218896052","https://openalex.org/W1590932131","https://openalex.org/W1973749650","https://openalex.org/W1994102944","https://openalex.org/W1998874170","https://openalex.org/W2016600127","https://openalex.org/W2029604420","https://openalex.org/W2065828016","https://openalex.org/W2090035674","https://openalex.org/W2101234009","https://openalex.org/W2103430587","https://openalex.org/W2117018385","https://openalex.org/W2149035855","https://openalex.org/W2155541015","https://openalex.org/W2163614729","https://openalex.org/W2168359206","https://openalex.org/W2171027943","https://openalex.org/W2179290474","https://openalex.org/W2222667290","https://openalex.org/W2328005473","https://openalex.org/W2333171309","https://openalex.org/W2559008206","https://openalex.org/W2605116034","https://openalex.org/W2620408778","https://openalex.org/W2730780157","https://openalex.org/W2735318784","https://openalex.org/W2774053709","https://openalex.org/W2921007546","https://openalex.org/W2962785568","https://openalex.org/W2962947528","https://openalex.org/W2964150011","https://openalex.org/W3090841165","https://openalex.org/W3099932909","https://openalex.org/W3100945629","https://openalex.org/W3101148361","https://openalex.org/W3104268025","https://openalex.org/W3104558707","https://openalex.org/W4294375521","https://openalex.org/W6675354045","https://openalex.org/W6681769576","https://openalex.org/W6682778277","https://openalex.org/W6683915439","https://openalex.org/W7007796922"],"related_works":["https://openalex.org/W2971351794","https://openalex.org/W4376155396","https://openalex.org/W1947085858","https://openalex.org/W2174986909","https://openalex.org/W2527791220","https://openalex.org/W2101991911","https://openalex.org/W2155070487","https://openalex.org/W4311589891","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"We":[0,72,103],"present":[1],"a":[2,8,25,54,74],"novel":[3,75,111],"POMDP":[4],"problem":[5],"formulation":[6,36],"for":[7,43,95],"robot":[9,87],"that":[10],"must":[11],"autonomously":[12],"decide":[13],"where":[14],"to":[15,17,28,58,84,118,121],"go":[16],"collect":[18,119],"new":[19],"and":[20,40,49,66,92],"scientifically":[21],"relevant":[22,69],"images":[23],"given":[24],"limited":[26],"ability":[27],"communicate":[29],"with":[30,60],"its":[31],"human":[32],"operator.":[33],"From":[34],"this":[35,110],"we":[37],"derive":[38],"constraints":[39],"design":[41],"principles":[42],"the":[44,61,86,115,128],"observation":[45,64],"model,":[46,48],"reward":[47,77,124],"communication":[50],"strategy":[51,79],"of":[52,68],"such":[53],"robot,":[55],"exploring":[56],"techniques":[57],"deal":[59],"very":[62],"high-dimensional":[63],"space":[65],"scarcity":[67],"training":[70],"data.":[71],"introduce":[73],"active":[76],"learning":[78],"based":[80],"on":[81],"making":[82],"queries":[83],"help":[85],"minimize":[88],"path":[89],"\"regret\"":[90],"online,":[91],"evaluate":[93],"it":[94],"suitability":[96],"in":[97,106],"autonomous":[98],"visual":[99],"exploration":[100],"through":[101],"simulations.":[102],"demonstrate":[104],"that,":[105],"some":[107],"bandwidth-limited":[108],"environments,":[109],"regret-based":[112],"criterion":[113],"enables":[114],"robotic":[116],"explorer":[117],"up":[120],"17%":[122],"more":[123],"per":[125],"mission":[126],"than":[127],"next-best":[129],"criterion.":[130]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}