{"id":"https://openalex.org/W4383108860","doi":"https://doi.org/10.1109/icra48891.2023.10161405","title":"Robust Navigation with Cross-Modal Fusion and Knowledge Transfer","display_name":"Robust Navigation with Cross-Modal Fusion and Knowledge Transfer","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108860","doi":"https://doi.org/10.1109/icra48891.2023.10161405"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161405","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/A5059258252","display_name":"Wenzhe Cai","orcid":"https://orcid.org/0000-0003-4610-3454"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenzhe Cai","raw_affiliation_strings":["School of Automation, Southeast University,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101632944","display_name":"Guangran Cheng","orcid":"https://orcid.org/0000-0003-0865-532X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangran Cheng","raw_affiliation_strings":["School of Automation, Southeast University,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109594061","display_name":"Lingyue Kong","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyue Kong","raw_affiliation_strings":["School of Automation, Southeast University,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088413924","display_name":"Lu Dong","orcid":"https://orcid.org/0000-0001-6737-1381"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Dong","raw_affiliation_strings":["School of Cyber science and Engineering, Southeast University,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Cyber science and Engineering, Southeast University,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019248683","display_name":"Changyin Sun","orcid":"https://orcid.org/0000-0001-9269-334X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changyin Sun","raw_affiliation_strings":["School of Automation, Southeast University,Nanjing,China,210096"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University,Nanjing,China,210096","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059258252"],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.2469,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50858309,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"10233","last_page":"10239"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.998199999332428,"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/generalization","display_name":"Generalization","score":0.8174800276756287},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7605874538421631},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.6651291847229004},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6281256675720215},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5678890943527222},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5608214139938354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4924679696559906},{"id":"https://openalex.org/keywords/discriminative-model","display_name":"Discriminative model","score":0.4738607406616211},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.418946236371994},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.40904974937438965},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10695937275886536},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09675243496894836}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.8174800276756287},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7605874538421631},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.6651291847229004},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6281256675720215},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5678890943527222},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5608214139938354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4924679696559906},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.4738607406616211},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.418946236371994},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40904974937438965},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10695937275886536},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09675243496894836},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161405","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":[],"awards":[{"id":"https://openalex.org/G1586809628","display_name":null,"funder_award_id":"2018AAA0101400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W2336416123","https://openalex.org/W2605102758","https://openalex.org/W2736601468","https://openalex.org/W2842511635","https://openalex.org/W2912063360","https://openalex.org/W2949169393","https://openalex.org/W2950872548","https://openalex.org/W2956887593","https://openalex.org/W2962917939","https://openalex.org/W2967098543","https://openalex.org/W2967654291","https://openalex.org/W2967847744","https://openalex.org/W2969277962","https://openalex.org/W2980730703","https://openalex.org/W3008115128","https://openalex.org/W3016507688","https://openalex.org/W3021282624","https://openalex.org/W3035524453","https://openalex.org/W3040041096","https://openalex.org/W3083392569","https://openalex.org/W3090612618","https://openalex.org/W3098970982","https://openalex.org/W3099155473","https://openalex.org/W3104933725","https://openalex.org/W3108511711","https://openalex.org/W3117804044","https://openalex.org/W3174887918","https://openalex.org/W3205321526","https://openalex.org/W3214642103","https://openalex.org/W4230024974","https://openalex.org/W4287811291","https://openalex.org/W4297795161","https://openalex.org/W4297808394","https://openalex.org/W6630844805","https://openalex.org/W6729556111","https://openalex.org/W6731334075","https://openalex.org/W6741002519","https://openalex.org/W6752818329","https://openalex.org/W6773029903","https://openalex.org/W6776901495","https://openalex.org/W6780443396","https://openalex.org/W6782974930","https://openalex.org/W6785337047","https://openalex.org/W6785803027","https://openalex.org/W6803039797"],"related_works":["https://openalex.org/W2965546495","https://openalex.org/W4389116644","https://openalex.org/W2153315159","https://openalex.org/W3103844505","https://openalex.org/W259157601","https://openalex.org/W4205463238","https://openalex.org/W2761785940","https://openalex.org/W2110523656","https://openalex.org/W1482209366","https://openalex.org/W2521627374"],"abstract_inverted_index":{"Recently,":[0],"learning-based":[1],"approaches":[2],"show":[3,121],"promising":[4],"results":[5],"in":[6,77,115],"navigation":[7,40,109,135],"tasks.":[8],"However,":[9],"the":[10,15,26,30,74,83,88,90,96,104,126],"poor":[11],"generalization":[12,31],"capability":[13],"and":[14,35,51,73,85,102,117,132],"simulation-reality":[16],"gap":[17],"prevent":[18],"a":[19,47,52,63,70,129],"wide":[20],"range":[21],"of":[22,28,32,87,106],"applications.":[23],"We":[24,111],"consider":[25],"problem":[27],"improving":[29],"mobile":[33],"robots":[34],"achieving":[36],"sim-to-real":[37],"transfer":[38,54],"for":[39,56],"skills.":[41],"To":[42],"that":[43,122],"end,":[44],"we":[45],"propose":[46],"cross-modal":[48],"fusion":[49],"method":[50,114,124],"knowledge":[53],"framework":[55],"better":[57],"generalization.":[58],"This":[59],"is":[60,92],"realized":[61],"by":[62,128],"teacher-student":[64],"distillation":[65],"architecture.":[66],"The":[67],"teacher":[68],"learns":[69],"discriminative":[71],"representation":[72,86],"near-perfect":[75],"policy":[76],"an":[78],"ideal":[79],"environment.":[80],"By":[81],"imitating":[82],"behavior":[84],"teacher,":[89],"student":[91],"able":[93],"to":[94],"align":[95],"features":[97],"from":[98],"noisy":[99],"multi-modal":[100],"input":[101],"reduce":[103],"influence":[105],"variations":[107],"on":[108],"policy.":[110],"evaluate":[112],"our":[113,123],"simulated":[116],"real-world":[118],"environments.":[119],"Experiments":[120],"outperforms":[125],"baselines":[127],"large":[130],"margin":[131],"achieves":[133],"robust":[134],"performance":[136],"with":[137],"varying":[138],"working":[139],"conditions.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}