{"id":"https://openalex.org/W4413947041","doi":"https://doi.org/10.1109/icra55743.2025.11127392","title":"Self-Reflective Perceptual Adaptation for Robust Ground Navigation in Unstructured Off-Road Environments","display_name":"Self-Reflective Perceptual Adaptation for Robust Ground Navigation in Unstructured Off-Road Environments","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413947041","doi":"https://doi.org/10.1109/icra55743.2025.11127392"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5034876976","display_name":"Sriram Siva","orcid":"https://orcid.org/0000-0003-3457-2085"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sriram Siva","raw_affiliation_strings":["U.S. Army DEVCOM Army Research Laboratory (ARL),Adelphi,MD,USA,20783"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"U.S. Army DEVCOM Army Research Laboratory (ARL),Adelphi,MD,USA,20783","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075286655","display_name":"Oscar Youngquist","orcid":null},"institutions":[{"id":"https://openalex.org/I177605424","display_name":"Amherst College","ror":"https://ror.org/028vqfs63","country_code":"US","type":"education","lineage":["https://openalex.org/I177605424"]},{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oscar Youngquist","raw_affiliation_strings":["University of Massachusetts Amherst,Human-Centered Robotics Lab,Amherst,MA,USA,01002"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Massachusetts Amherst,Human-Centered Robotics Lab,Amherst,MA,USA,01002","institution_ids":["https://openalex.org/I24603500","https://openalex.org/I177605424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057034037","display_name":"Maggie Wigness","orcid":"https://orcid.org/0000-0003-1707-8106"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maggie Wigness","raw_affiliation_strings":["U.S. Army DEVCOM Army Research Laboratory (ARL),Adelphi,MD,USA,20783"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"U.S. Army DEVCOM Army Research Laboratory (ARL),Adelphi,MD,USA,20783","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101870284","display_name":"John G. Rogers","orcid":"https://orcid.org/0000-0002-6074-0823"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Rogers","raw_affiliation_strings":["U.S. Army DEVCOM Army Research Laboratory (ARL),Adelphi,MD,USA,20783"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"U.S. Army DEVCOM Army Research Laboratory (ARL),Adelphi,MD,USA,20783","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5092393033","display_name":"Hao Zhang","orcid":"https://orcid.org/0000-0001-8043-9184"},"institutions":[{"id":"https://openalex.org/I177605424","display_name":"Amherst College","ror":"https://ror.org/028vqfs63","country_code":"US","type":"education","lineage":["https://openalex.org/I177605424"]},{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Zhang","raw_affiliation_strings":["University of Massachusetts Amherst,Human-Centered Robotics Lab,Amherst,MA,USA,01002"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Massachusetts Amherst,Human-Centered Robotics Lab,Amherst,MA,USA,01002","institution_ids":["https://openalex.org/I24603500","https://openalex.org/I177605424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10823484,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9801","last_page":"9808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.8823999762535095,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.8823999762535095,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.8440999984741211,"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/T12389","display_name":"Infrared Target Detection Methodologies","score":0.8185999989509583,"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":0.6602262854576111},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6552003026008606},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6438798904418945},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3432905673980713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32912319898605347},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.11792489886283875},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07522127032279968},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.05869397521018982}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6602262854576111},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6552003026008606},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6438798904418945},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3432905673980713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32912319898605347},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.11792489886283875},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07522127032279968},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.05869397521018982},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W309405159","https://openalex.org/W1591375184","https://openalex.org/W1903029394","https://openalex.org/W1950970151","https://openalex.org/W1986014385","https://openalex.org/W2045999702","https://openalex.org/W2047978273","https://openalex.org/W2056842922","https://openalex.org/W2079797480","https://openalex.org/W2083641037","https://openalex.org/W2106423365","https://openalex.org/W2106789842","https://openalex.org/W2116455087","https://openalex.org/W2118688532","https://openalex.org/W2128159281","https://openalex.org/W2145102215","https://openalex.org/W2148014896","https://openalex.org/W2178108034","https://openalex.org/W2210721416","https://openalex.org/W2255226816","https://openalex.org/W2408490451","https://openalex.org/W2410617946","https://openalex.org/W2478609746","https://openalex.org/W2546700740","https://openalex.org/W2615167078","https://openalex.org/W2807241675","https://openalex.org/W2843252114","https://openalex.org/W2884545005","https://openalex.org/W2885648612","https://openalex.org/W2886378699","https://openalex.org/W2889840352","https://openalex.org/W2890464845","https://openalex.org/W2921870669","https://openalex.org/W2962821278","https://openalex.org/W2963544079","https://openalex.org/W2969015047","https://openalex.org/W2973752985","https://openalex.org/W2989930392","https://openalex.org/W2991583441","https://openalex.org/W2997882801","https://openalex.org/W3003922739","https://openalex.org/W3021134042","https://openalex.org/W3031194307","https://openalex.org/W3089576059","https://openalex.org/W3095192614","https://openalex.org/W3109978116","https://openalex.org/W3127756416","https://openalex.org/W3134286853","https://openalex.org/W3136568468","https://openalex.org/W3146936092","https://openalex.org/W3171996075","https://openalex.org/W3175254947","https://openalex.org/W3205884071","https://openalex.org/W3206164009","https://openalex.org/W3206314692","https://openalex.org/W3207060053","https://openalex.org/W4210968171","https://openalex.org/W4242699028","https://openalex.org/W4312878346"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Autonomous":[0],"ground":[1],"robots":[2,37],"navigating":[3],"unstructured":[4],"off-road":[5,63,123],"environments":[6,124],"face":[7],"perceptual":[8,56,74,89],"challenges,":[9],"such":[10],"as":[11],"sensor":[12,44,94,126],"obscuration":[13],"or":[14,22],"failure,":[15],"which":[16,112],"can":[17],"lead":[18],"to":[19,41,60,70],"inaccurate":[20],"perception":[21],"navigation":[23,118],"failures.":[24],"While":[25],"robot":[26,34,69],"adaptation":[27,57],"has":[28],"recently":[29],"gained":[30],"increasing":[31],"attention,":[32],"self-reflective":[33,55],"adaptation,":[35],"where":[36],"understand":[38],"and":[39,76,128,138,141],"adjust":[40],"their":[42],"own":[43,73],"limitations,":[45],"remains":[46],"under-explored.":[47],"This":[48],"paper":[49],"proposes":[50],"a":[51,68,87,97],"novel":[52],"approach":[53,66],"for":[54],"in":[58,79,122],"order":[59],"enhance":[61],"robust":[62],"navigation.":[64],"Our":[65],"enables":[67,113],"identify":[71],"its":[72],"difficulties":[75],"dynamically":[77],"adapt":[78],"challenging":[80],"environments.":[81],"The":[82],"key":[83],"novelty":[84],"is":[85,109],"learning":[86],"modality-invariant":[88],"representation":[90,103],"that":[91,131],"encodes":[92],"shared":[93],"data":[95],"into":[96],"compact":[98],"feature":[99],"space.":[100],"Within":[101],"this":[102,147],"space,":[104],"the":[105,152],"robot's":[106],"dynamics":[107],"model":[108],"also":[110],"learned,":[111],"accurate":[114],"prediction":[115],"of":[116,146],"future":[117],"paths.":[119],"Extensive":[120],"experiments":[121],"with":[125],"obstructions":[127],"failures":[129],"demonstrate":[130],"our":[132],"method":[133],"significantly":[134],"improves":[135],"adaptive":[136],"capabilities":[137],"outperforms":[139],"baseline":[140],"state-of-the-art":[142],"approaches.":[143],"More":[144],"details":[145],"work":[148],"are":[149],"provided":[150],"on":[151],"project":[153],"website:":[154],"https://hcrlab.gitlab.io/project/srpa.":[155]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}