{"id":"https://openalex.org/W4383171997","doi":"https://doi.org/10.1109/icra48891.2023.10160856","title":"How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability","display_name":"How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383171997","doi":"https://doi.org/10.1109/icra48891.2023.10160856"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160856","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":"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/A5020415873","display_name":"Mateo Guaman Castro","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mateo Guaman Castro","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026102921","display_name":"Samuel Triest","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel Triest","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072816908","display_name":"Wenshan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenshan Wang","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084336830","display_name":"Jason M. Gregory","orcid":"https://orcid.org/0000-0002-3929-6422"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason M. Gregory","raw_affiliation_strings":["DEVCOM Army Research Laboratory,Adelphi,MD,USA","DEVCOM Army Research Laboratory, Adelphi, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEVCOM Army Research Laboratory,Adelphi,MD,USA","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]},{"raw_affiliation_string":"DEVCOM Army Research Laboratory, Adelphi, MD, USA","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Felix Sanchez","orcid":null},"institutions":[{"id":"https://openalex.org/I1322124587","display_name":"Booz Allen Hamilton (United States)","ror":"https://ror.org/051rcp357","country_code":"US","type":"company","lineage":["https://openalex.org/I1322124587"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Felix Sanchez","raw_affiliation_strings":["Booz Allen Hamilton,McLean,VA,USA,22102"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Booz Allen Hamilton,McLean,VA,USA,22102","institution_ids":["https://openalex.org/I1322124587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105126081","display_name":"John G. Rogers","orcid":null},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John G. Rogers","raw_affiliation_strings":["DEVCOM Army Research Laboratory,Adelphi,MD,USA","DEVCOM Army Research Laboratory, Adelphi, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEVCOM Army Research Laboratory,Adelphi,MD,USA","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]},{"raw_affiliation_string":"DEVCOM Army Research Laboratory, Adelphi, MD, USA","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5020415873"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.9899,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":{"value":0.97364262,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"931","last_page":"938"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9961000084877014,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9878000020980835,"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":0.87813401222229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7692766189575195},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7311071157455444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6581487059593201},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5685290098190308},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5241958498954773},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5016641616821289},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4643547832965851},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32119715213775635}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.87813401222229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7692766189575195},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7311071157455444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6581487059593201},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5685290098190308},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5241958498954773},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5016641616821289},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4643547832965851},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32119715213775635},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160856","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":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G2197610706","display_name":null,"funder_award_id":"W911NF-21-2-0152","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1524024963","https://openalex.org/W1976918375","https://openalex.org/W2031456685","https://openalex.org/W2078550116","https://openalex.org/W2106822551","https://openalex.org/W2113986333","https://openalex.org/W2154844948","https://openalex.org/W2156067790","https://openalex.org/W2194775991","https://openalex.org/W2342840547","https://openalex.org/W2395611524","https://openalex.org/W2478031517","https://openalex.org/W2600201730","https://openalex.org/W2738778707","https://openalex.org/W2765757095","https://openalex.org/W2766228259","https://openalex.org/W2788200022","https://openalex.org/W2913921102","https://openalex.org/W2949582403","https://openalex.org/W2963619659","https://openalex.org/W2964334191","https://openalex.org/W3036843665","https://openalex.org/W3083525536","https://openalex.org/W3127756416","https://openalex.org/W3159400523","https://openalex.org/W3174748154","https://openalex.org/W3205004989","https://openalex.org/W3208092997","https://openalex.org/W3212567339","https://openalex.org/W4200150166","https://openalex.org/W4214743545","https://openalex.org/W4232201561","https://openalex.org/W4232280717","https://openalex.org/W4285102400","https://openalex.org/W4287215707","https://openalex.org/W4292828589","https://openalex.org/W4312726754","https://openalex.org/W4312752326","https://openalex.org/W4312959444","https://openalex.org/W4383109373","https://openalex.org/W6631190155","https://openalex.org/W6640004471","https://openalex.org/W6640054144","https://openalex.org/W6704559304","https://openalex.org/W6755308174","https://openalex.org/W6780179280","https://openalex.org/W6785114638","https://openalex.org/W6805537281","https://openalex.org/W6840312789"],"related_works":["https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W2103009189","https://openalex.org/W4312958259","https://openalex.org/W4308259661","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2024471926"],"abstract_inverted_index":{"Estimating":[0],"terrain":[1,54],"traversability":[2,45],"in":[3,30,57,80,148,167],"off-road":[4,89,150],"environments":[5],"requires":[6],"reasoning":[7],"about":[8],"complex":[9],"interaction":[10,55],"dynamics":[11],"between":[12],"the":[13,72,114,122,134],"robot":[14,69,115],"and":[15,83,112,160],"these":[16,35],"terrains.":[17],"However,":[18],"it":[19],"is":[20],"challenging":[21,88,149],"to":[22,26,43,108,140,143,156],"create":[23],"informative":[24],"labels":[25],"learn":[27],"a":[28,31,39,58,64,117],"model":[29],"supervised":[32],"manner":[33],"for":[34],"interactions.":[36,124],"We":[37,76],"propose":[38,63],"method":[40,79],"that":[41,102,130],"learns":[42],"predict":[44],"costmaps":[46,106],"by":[47,138],"combining":[48],"exteroceptive":[49],"environmental":[50],"information":[51],"with":[52,116],"proprioceptive":[53],"feedback":[56],"self-supervised":[59],"manner.":[60],"Additionally,":[61],"we":[62,131],"novel":[65],"way":[66],"of":[67,121,136],"incorporating":[68],"velocity":[70],"into":[71],"costmap":[73],"prediction":[74],"pipeline.":[75],"validate":[77],"our":[78,104,168],"multiple":[81],"short":[82],"large-scale":[84,126],"navigation":[85,99,127,146],"tasks":[86],"on":[87],"terrains":[90],"using":[91,103],"two":[92],"different":[93],"large,":[94],"all-terrain":[95],"robots.":[96],"Our":[97,125],"short-scale":[98],"results":[100],"show":[101,129],"learned":[105],"leads":[107],"overall":[109],"smoother":[110],"navigation,":[111],"provides":[113],"more":[118],"fine-grained":[119],"understanding":[120],"robot-terrain":[123],"trials":[128],"can":[132,164],"reduce":[133],"number":[135],"interventions":[137],"up":[139],"57%":[141],"compared":[142],"an":[144],"occupancy-based":[145],"baseline":[147],"courses":[151],"ranging":[152],"from":[153],"400":[154],"m":[155],"3150":[157],"m.":[158],"Appendix":[159],"full":[161],"experiment":[162],"videos":[163],"be":[165],"found":[166],"website:":[169],"https://mateoguaman.github.io/hdif.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":3}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}