{"id":"https://openalex.org/W4413945156","doi":"https://doi.org/10.1109/icra55743.2025.11127949","title":"IMOST: Incremental Memory Mechanism with Online Self-Supervision for Continual Traversability Learning","display_name":"IMOST: Incremental Memory Mechanism with Online Self-Supervision for Continual Traversability Learning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945156","doi":"https://doi.org/10.1109/icra55743.2025.11127949"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127949","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/A5016840882","display_name":"Kehui Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kehui Ma","raw_affiliation_strings":["School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103152369","display_name":"Zhen Sun","orcid":"https://orcid.org/0000-0002-2226-8732"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Sun","raw_affiliation_strings":["School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056685206","display_name":"Chaoran Xiong","orcid":"https://orcid.org/0009-0000-2697-6624"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoran Xiong","raw_affiliation_strings":["School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113211509","display_name":"Qiumin Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiumin Zhu","raw_affiliation_strings":["School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100622685","display_name":"Kewei Wang","orcid":"https://orcid.org/0000-0003-1348-8474"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kewei Wang","raw_affiliation_strings":["School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100943096","display_name":"Ling Pei","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ling Pei","raw_affiliation_strings":["School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"School of Elcctronic Information and Electrical Engincering, Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5016840882"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":2.8599,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92669151,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"8788","last_page":"8794"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.9908999800682068,"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/T10028","display_name":"Topic Modeling","score":0.9908999800682068,"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/T12031","display_name":"Speech and dialogue systems","score":0.9757999777793884,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.9524999856948853,"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/mechanism","display_name":"Mechanism (biology)","score":0.7607667446136475},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6739733815193176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4567711055278778}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7607667446136475},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6739733815193176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4567711055278778},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127949","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127949","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":[{"id":"https://openalex.org/G6718406874","display_name":null,"funder_award_id":"62273229,61873163","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W97351935","https://openalex.org/W1682403713","https://openalex.org/W2118246710","https://openalex.org/W2155487235","https://openalex.org/W2913921102","https://openalex.org/W2964189064","https://openalex.org/W3096411729","https://openalex.org/W3133648073","https://openalex.org/W3159481202","https://openalex.org/W3174748154","https://openalex.org/W3209352332","https://openalex.org/W4247532959","https://openalex.org/W4283796855","https://openalex.org/W4312441173","https://openalex.org/W4312553254","https://openalex.org/W4312959444","https://openalex.org/W4313639585","https://openalex.org/W4379803630","https://openalex.org/W4383171997","https://openalex.org/W4385430650","https://openalex.org/W4390874575","https://openalex.org/W4392173735","https://openalex.org/W4393156612","https://openalex.org/W4394564252","https://openalex.org/W4401416588","https://openalex.org/W4403094384","https://openalex.org/W4404371571","https://openalex.org/W4412722243","https://openalex.org/W4413065665"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Traversability":[0],"estimation":[1],"is":[2,189],"the":[3,21,151,158],"foundation":[4],"of":[5,68,110],"path":[6],"planning":[7],"for":[8,20,47],"a":[9,62,107,121],"general":[10],"navigation":[11],"system.":[12],"However,":[13],"complex":[14],"and":[15,53,76,167,182],"dynamic":[16,73],"environments":[17],"pose":[18],"challenges":[19],"latest":[22],"methods":[23,32],"using":[24],"self-supervised":[25,77],"learning":[26,65,160],"(SSL)":[27],"technique.":[28],"Firstly,":[29],"existing":[30],"SSL-based":[31],"generate":[33,134],"sparse":[34],"annotations":[35,136],"lacking":[36],"detailed":[37],"boundary":[38],"information.":[39],"Secondly,":[40],"their":[41],"strategies":[42],"focus":[43],"on":[44,103,150,164],"hard":[45],"samples":[46,89],"rapid":[48],"adaptation,":[49],"leading":[50],"to":[51,90,94,133],"forgetting":[52],"biased":[54],"predictions.":[55],"In":[56],"this":[57],"work,":[58],"we":[59],"propose":[60],"IMOST,":[61],"continual":[63],"traversability":[64],"framework":[66],"composed":[67],"two":[69],"key":[70],"modules:":[71],"incremental":[72],"memory":[74,83,123],"(IDM)":[75],"annotation":[78],"(SSA).":[79],"By":[80],"mimicking":[81],"human":[82],"mechanisms,":[84],"IDM":[85],"allocates":[86],"novel":[87],"data":[88],"new":[91,111],"clusters":[92,101],"according":[93],"information":[95],"expansion":[96],"criterion.":[97],"It":[98],"also":[99],"updates":[100],"based":[102],"diversity":[104,118],"rule,":[105],"ensuring":[106],"representative":[108],"characterization":[109],"scene.":[112],"This":[113],"mechanism":[114],"enhances":[115],"scene-aware":[116],"knowledge":[117],"while":[119],"maintaining":[120],"compact":[122],"capacity.":[124],"The":[125,187],"SSA":[126],"module,":[127],"integrating":[128],"FastSAM,":[129],"utilizes":[130],"point":[131],"prompts":[132],"complete":[135],"in":[137],"real":[138],"time":[139],"which":[140],"reduces":[141],"training":[142],"complexity.":[143],"Furthermore,":[144],"IMOST":[145,173],"has":[146],"been":[147],"successfully":[148],"deployed":[149],"quadruped":[152],"robot,":[153],"with":[154],"performance":[155],"evaluated":[156],"during":[157],"online":[159],"process.":[161],"Experimental":[162],"results":[163],"both":[165],"public":[166],"self-collected":[168],"datasets":[169],"demonstrate":[170],"that":[171],"our":[172],"outperforms":[174],"current":[175],"state-of-the-art":[176],"method,":[177],"maintains":[178],"robust":[179],"recognition":[180],"capabilities":[181],"adaptability":[183],"across":[184],"various":[185],"scenarios.":[186],"code":[188],"available":[190],"at":[191],"https://github.com/SJTUMKH/OCLTrav.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}