{"id":"https://openalex.org/W4383108443","doi":"https://doi.org/10.1109/icra48891.2023.10160680","title":"Learned Risk Metric Maps for Kinodynamic Systems","display_name":"Learned Risk Metric Maps for Kinodynamic Systems","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108443","doi":"https://doi.org/10.1109/icra48891.2023.10160680"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160680","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5005883173","display_name":"Ross Allen","orcid":"https://orcid.org/0000-0003-3730-641X"},"institutions":[{"id":"https://openalex.org/I4210122954","display_name":"MIT Lincoln Laboratory","ror":"https://ror.org/022z6jk58","country_code":"US","type":"facility","lineage":["https://openalex.org/I4210122954","https://openalex.org/I63966007"]},{"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":"Ross E. Allen","raw_affiliation_strings":["Massachusetts Institute of Technology, Lincoln Laboratory,Lexington,MA,USA,02421"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Lincoln Laboratory,Lexington,MA,USA,02421","institution_ids":["https://openalex.org/I4210122954","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100446384","display_name":"Wei Xiao","orcid":"https://orcid.org/0000-0001-9224-6726"},"institutions":[{"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":"Wei Xiao","raw_affiliation_strings":["Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"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":"Daniela Rus","raw_affiliation_strings":["Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Computer Science and Artificial Intelligence Laboratory,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"961","last_page":"967"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9932000041007996,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.992900013923645,"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/reachability","display_name":"Reachability","score":0.757764458656311},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7503634691238403},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.739917516708374},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6644841432571411},{"id":"https://openalex.org/keywords/codebase","display_name":"Codebase","score":0.6332862377166748},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49049609899520874},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4755018651485443},{"id":"https://openalex.org/keywords/performance-metric","display_name":"Performance metric","score":0.4166211783885956},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.405087411403656},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37966158986091614},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3702981472015381},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35505127906799316},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25108009576797485},{"id":"https://openalex.org/keywords/source-code","display_name":"Source code","score":0.13968685269355774},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12119030952453613},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09669113159179688}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.757764458656311},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7503634691238403},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.739917516708374},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6644841432571411},{"id":"https://openalex.org/C51929080","wikidata":"https://www.wikidata.org/wiki/Q2425187","display_name":"Codebase","level":3,"score":0.6332862377166748},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49049609899520874},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4755018651485443},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.4166211783885956},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.405087411403656},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37966158986091614},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3702981472015381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35505127906799316},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25108009576797485},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.13968685269355774},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12119030952453613},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09669113159179688},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160680","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1975236902","https://openalex.org/W1979743043","https://openalex.org/W2019291268","https://openalex.org/W2030558783","https://openalex.org/W2053984877","https://openalex.org/W2097148013","https://openalex.org/W2097545165","https://openalex.org/W2106816694","https://openalex.org/W2110762409","https://openalex.org/W2229105208","https://openalex.org/W2560504659","https://openalex.org/W2891365044","https://openalex.org/W2907126380","https://openalex.org/W2963613342","https://openalex.org/W2964040381","https://openalex.org/W2966257892","https://openalex.org/W2967975754","https://openalex.org/W3011042361","https://openalex.org/W3021487874","https://openalex.org/W3038423780","https://openalex.org/W3080716118","https://openalex.org/W3143034939","https://openalex.org/W3148740559","https://openalex.org/W3159254889","https://openalex.org/W3195647294","https://openalex.org/W3206882935","https://openalex.org/W4200628918","https://openalex.org/W4223989243","https://openalex.org/W4225502178","https://openalex.org/W4295312788","https://openalex.org/W6726746377","https://openalex.org/W6766978945","https://openalex.org/W6782080126","https://openalex.org/W6794720696","https://openalex.org/W6802880167","https://openalex.org/W6805146257","https://openalex.org/W6809713462","https://openalex.org/W6810803541"],"related_works":["https://openalex.org/W2136512912","https://openalex.org/W2127267268","https://openalex.org/W2156446763","https://openalex.org/W2067910792","https://openalex.org/W2150194458","https://openalex.org/W2143461633","https://openalex.org/W2889071233","https://openalex.org/W4321471459","https://openalex.org/W4221156924","https://openalex.org/W2380814829"],"abstract_inverted_index":{"We":[0,175],"present":[1],"Learned":[2],"Risk":[3],"Metric":[4],"Maps":[5],"(LRMM)":[6],"for":[7],"real-time":[8],"estimation":[9],"of":[10,14,35,45,75,94,150,163],"coherent":[11],"risk":[12,110],"metrics":[13,111],"high-dimensional":[15],"dynamical":[16],"systems":[17],"operating":[18,191],"in":[19,82,148,192],"unstructured,":[20],"partially":[21],"observed":[22],"environments.":[23],"LRMM":[24,88,138,155,198],"models":[25],"are":[26,171],"simple":[27],"to":[28,53,70,90,130,160],"design":[29],"and":[30,39,42,57,97,125,142,168],"train-requiring":[31],"only":[32,157],"procedural":[33],"generation":[34],"obstacle":[36,58,134],"sets,":[37],"state":[38],"control":[40,93,121],"sampling,":[41],"supervised":[43],"training":[44],"a":[46,61,76,187],"function":[47],"approximator-which":[48],"makes":[49],"them":[50],"broadly":[51],"applicable":[52],"arbitrary":[54],"system":[55,190],"dynamics":[56],"sets.":[59],"In":[60,100],"parallel":[62],"autonomy":[63],"setting,":[64],"we":[65,104],"demonstrate":[66],"the":[67,87,95,137,151,154,166],"model's":[68],"ability":[69],"rapidly":[71],"infer":[72],"collision":[73],"probabilities":[74],"fast-moving":[77],"car-like":[78],"robot":[79],"driving":[80],"recklessly":[81],"an":[83,193],"obstructed":[84,194],"environment;":[85],"allowing":[86],"agent":[89,139],"intervene,":[91],"take":[92],"vehicle,":[96],"avoid":[98],"collisions.":[99],"this":[101],"time-critical":[102],"scenario,":[103],"show":[105,177],"that":[106,153,178],"LRMMs":[107],"can":[108,181],"evaluate":[109],"20-100x":[112],"times":[113],"faster":[114],"than":[115,140],"alternative":[116],"safety":[117],"algorithms":[118],"based":[119],"on":[120,186],"barrier":[122],"functions":[123],"(CBFs)":[124],"Hamilton-Jacobi":[126],"reachability":[127],"(HJ-reach),":[128],"leading":[129],"5\u201315":[131],"%":[132],"fewer":[133],"collisions":[135],"by":[136],"CBFs":[141],"HJ-reach.":[143],"This":[144],"performance":[145],"improvement":[146],"comes":[147],"spite":[149],"fact":[152],"model":[156,180],"has":[158],"access":[159],"local/partial":[161],"observation":[162],"obstacles,":[164],"whereas":[165],"CBF":[167],"HJ-reach":[169],"agents":[170],"granted":[172],"privileged/global":[173],"information.":[174],"also":[176],"our":[179],"be":[182],"equally":[183],"well":[184],"trained":[185],"12-dimensional":[188],"quadrotor":[189],"indoor":[195],"environment.":[196],"The":[197],"codebase":[199],"is":[200],"provided":[201],"at":[202],"https://github.com/mit-drl/pyrmm.":[203]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}