{"id":"https://openalex.org/W4413924978","doi":"https://doi.org/10.1109/icra55743.2025.11127890","title":"Behav: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes","display_name":"Behav: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413924978","doi":"https://doi.org/10.1109/icra55743.2025.11127890"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127890","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/A5080472165","display_name":"Kasun Weerakoon","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kasun Weerakoon","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092506235","display_name":"Mohamed Elnoor","orcid":"https://orcid.org/0009-0000-2326-6184"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohamed Elnoor","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108716741","display_name":"Gershom Seneviratne","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gershom Seneviratne","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104263397","display_name":"Vignesh Rajagopal","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vignesh Rajagopal","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029729390","display_name":"Senthil Hariharan Arul","orcid":"https://orcid.org/0000-0002-3852-0998"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Senthil Hariharan Arul","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000467696","display_name":"Jing Liang","orcid":"https://orcid.org/0000-0003-2860-401X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jing Liang","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085906283","display_name":"Mohamed Khalid M Jaffar","orcid":"https://orcid.org/0000-0003-2576-857X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohamed Khalid M Jaffar","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["University of Maryland,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5080472165"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":9.9395,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.97849656,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7044","last_page":"7051"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8611000180244446,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8611000180244446,"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/robot","display_name":"Robot","score":0.5986144542694092},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5771600008010864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5505450367927551},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.530725359916687},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4797702729701996},{"id":"https://openalex.org/keywords/rule-based-system","display_name":"Rule-based system","score":0.4268091320991516}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5986144542694092},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5771600008010864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5505450367927551},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.530725359916687},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4797702729701996},{"id":"https://openalex.org/C149271511","wikidata":"https://www.wikidata.org/wiki/Q1417149","display_name":"Rule-based system","level":2,"score":0.4268091320991516},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127890","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1480087110","https://openalex.org/W2012178094","https://openalex.org/W2066955564","https://openalex.org/W2124299914","https://openalex.org/W2791581064","https://openalex.org/W2890001928","https://openalex.org/W3020825567","https://openalex.org/W3049107186","https://openalex.org/W3204691825","https://openalex.org/W3205469372","https://openalex.org/W3205835814","https://openalex.org/W3206270475","https://openalex.org/W3207589043","https://openalex.org/W3217658296","https://openalex.org/W4285117889","https://openalex.org/W4285304415","https://openalex.org/W4312302744","https://openalex.org/W4312420092","https://openalex.org/W4312726754","https://openalex.org/W4379744667","https://openalex.org/W4385430650","https://openalex.org/W4387092523","https://openalex.org/W4389666115","https://openalex.org/W4391695320","https://openalex.org/W4399939205","https://openalex.org/W4400111437","https://openalex.org/W4401210454","https://openalex.org/W4401414899","https://openalex.org/W4401415185","https://openalex.org/W4401416588","https://openalex.org/W4401416954","https://openalex.org/W4402353855","https://openalex.org/W4402353981","https://openalex.org/W4402659100","https://openalex.org/W4402944034","https://openalex.org/W4403446303","https://openalex.org/W4403600470","https://openalex.org/W4403791683","https://openalex.org/W4405786269","https://openalex.org/W4406893040"],"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":{"We":[0,77,176],"present":[1,159],"BehAV,":[2],"a":[3,29,99,111,142,183,191,207],"novel":[4,100],"approach":[5],"for":[6,80,93,146],"autonomous":[7],"robot":[8,94,185],"navigation":[9,39,211],"in":[10,195],"outdoor":[11,150],"scenes":[12,151],"guided":[13],"by":[14,202],"human":[15,26],"instructions":[16,37],"and":[17,34,40,53,71,127,172,205],"leveraging":[18],"Vision":[19],"Language":[20,31],"Models":[21],"(VLMs).":[22],"Our":[23],"method":[24],"interprets":[25],"commands":[27,48],"using":[28],"Large":[30],"Model":[32,162],"(LLM),":[33],"categorizes":[35],"the":[36,119,125,155,178],"into":[38,110],"behavioral":[41,63,108,112,122,136,174],"guidelines.":[42,175],"Navigation":[43],"guidelines":[44,64],"consist":[45],"of":[46,121,180],"directional":[47],"(e.g.,":[49,56,68,75],"\u201cmove":[50],"forward":[51],"until\u201c)":[52],"associated":[54],"landmarks":[55,171],"\u201cthe":[57],"building":[58],"with":[59,141,197],"blue":[60],"windows\u201d),":[61],"while":[62,152],"encompass":[65],"regulatory":[66,133],"actions":[67],"\u201cstay":[69],"on\u201c)":[70],"their":[72,81,132],"corresponding":[73],"objects":[74,123],"\u201cpavements\u201c).":[76],"use":[78],"VLMs":[79,105],"zero-shot":[82],"scene":[83,101,126],"understanding":[84],"capabilities":[85],"to":[86,106,154,215],"estimate":[87],"landmark":[88],"locations":[89],"from":[90],"RGB":[91],"images":[92],"navigation.":[95,147],"Further,":[96],"we":[97,158],"introduce":[98],"representation":[102],"that":[103,167],"utilizes":[104],"ground":[107],"rules":[109],"cost":[113,116,137],"map.":[114],"This":[115],"map":[117,138,145],"encodes":[118],"presence":[120],"within":[124],"assigns":[128],"costs":[129],"based":[130],"on":[131,182],"actions.":[134],"The":[135],"is":[139],"integrated":[140],"LiDAR-based":[143],"occupancy":[144],"To":[148],"navigate":[149],"adhering":[153],"instructed":[156],"behaviors,":[157],"an":[160],"unconstrained":[161],"Predictive":[163],"Control":[164],"(MPC)based":[165],"planner":[166],"prioritizes":[168],"both":[169],"reaching":[170],"following":[173],"evaluate":[177],"performance":[179],"BehAV":[181],"quadruped":[184],"across":[186],"diverse":[187],"real-world":[188],"scenarios,":[189],"demonstrating":[190],"22.49":[192],"%":[193,209],"improvement":[194],"alignment":[196],"human-teleoperated":[198],"actions,":[199],"as":[200],"measured":[201],"Fr\u00e9chet":[203],"distance,":[204],"achieving":[206],"40":[208],"higher":[210],"success":[212],"rate":[213],"compared":[214],"state-of-the-art":[216],"methods.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-29T08:15:47.926485","created_date":"2025-10-10T00:00:00"}