{"id":"https://openalex.org/W4413925238","doi":"https://doi.org/10.1109/icra55743.2025.11128172","title":"Differentiable Composite Neural Signed Distance Fields for Robot Navigation in Dynamic Indoor Environments","display_name":"Differentiable Composite Neural Signed Distance Fields for Robot Navigation in Dynamic Indoor Environments","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925238","doi":"https://doi.org/10.1109/icra55743.2025.11128172"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128172","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":"conference-paper","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/A5026746611","display_name":"Sohail Bukhari","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Talha Bukhari","raw_affiliation_strings":["Purdue University,Department of Computer Science,West Lafayette,IN,USA,47907"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,Department of Computer Science,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110693765","display_name":"Daniel E. Lawson","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Lawson","raw_affiliation_strings":["Purdue University,Department of Computer Science,West Lafayette,IN,USA,47907"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,Department of Computer Science,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056336556","display_name":"Ahmed H. Qureshi","orcid":"https://orcid.org/0000-0003-2104-2333"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ahmed H. Qureshi","raw_affiliation_strings":["Purdue University,Department of Computer Science,West Lafayette,IN,USA,47907"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,Department of Computer Science,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":5.6545,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.96572478,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"16169","last_page":"16175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8852999806404114,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8852999806404114,"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":0.8686000108718872,"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/T13382","display_name":"Robotics and Automated Systems","score":0.8644999861717224,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/differentiable-function","display_name":"Differentiable function","score":0.6506034135818481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6108255386352539},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6101654171943665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4742920696735382},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4387699365615845},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4354248642921448},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4279877841472626},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4145132005214691},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2724268436431885},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11622306704521179}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6506034135818481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6108255386352539},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6101654171943665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4742920696735382},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4387699365615845},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4354248642921448},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4279877841472626},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4145132005214691},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2724268436431885},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11622306704521179},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128172","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":30,"referenced_works":["https://openalex.org/W1539282749","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2055904838","https://openalex.org/W2117211893","https://openalex.org/W2145060371","https://openalex.org/W2150839555","https://openalex.org/W2161819990","https://openalex.org/W2169033759","https://openalex.org/W2585698528","https://openalex.org/W2593841437","https://openalex.org/W2607968634","https://openalex.org/W2962887844","https://openalex.org/W2963627347","https://openalex.org/W3004227484","https://openalex.org/W3046718512","https://openalex.org/W3090062608","https://openalex.org/W3114626444","https://openalex.org/W3201759799","https://openalex.org/W4200150166","https://openalex.org/W4210985923","https://openalex.org/W4280571816","https://openalex.org/W4283785867","https://openalex.org/W4292993997","https://openalex.org/W4312660220","https://openalex.org/W4312870968","https://openalex.org/W4385430747","https://openalex.org/W4389665747","https://openalex.org/W4395683046","https://openalex.org/W4401414071"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W2122871747","https://openalex.org/W2562628082","https://openalex.org/W3114279067","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2523265608"],"abstract_inverted_index":{"Neural":[0],"Signed":[1],"Distance":[2],"Fields":[3],"(SDFs)":[4],"provide":[5],"a":[6,56,78,162],"differentiable":[7],"environment":[8],"representation":[9],"to":[10,62,111,186],"readily":[11],"obtain":[12],"collision":[13,93,96],"checks":[14],"and":[15,37,95,134,146,193],"well-defined":[16],"gradients":[17,147],"for":[18,42,82,148],"robot":[19,43,64,104],"navigation":[20,44,65],"tasks.":[21],"However,":[22],"updating":[23],"neural":[24,60],"SDFs":[25,61],"as":[26],"the":[27,103,109,114,128,136,156,198],"scene":[28],"evolves":[29],"entails":[30],"re-training,":[31],"which":[32],"is":[33],"tedious,":[34],"time":[35,175],"consuming,":[36],"inefficient,":[38],"making":[39],"it":[40],"unsuitable":[41],"with":[45,85,171],"limited":[46],"field-of-view":[47],"in":[48,66,184],"dynamic":[49],"environments.":[50],"Towards":[51],"this":[52],"objective,":[53],"we":[54],"propose":[55],"compositional":[57],"framework":[58,76],"of":[59,91,122,139,158,165],"solve":[63],"indoor":[67,188],"environments":[68],"using":[69,88],"only":[70],"an":[71],"onboard":[72],"RGB-D":[73],"sensor.":[74],"Our":[75],"embodies":[77],"dual":[79,152],"mode":[80,153],"procedure":[81,154],"trajectory":[83,149],"optimization,":[84],"different":[86],"modes":[87],"complementary":[89],"methods":[90],"modeling":[92],"costs":[94,145],"avoidance":[97],"gradients.":[98],"The":[99,124,151,190],"primary":[100],"stage":[101,126],"queries":[102],"body's":[105],"SDF,":[106],"swept":[107],"along":[108],"route":[110],"goal,":[112],"at":[113,197],"obstacle":[115],"point":[116],"cloud,":[117],"enabling":[118],"swift":[119],"local":[120],"optimization":[121],"trajectories.":[123],"secondary":[125],"infers":[127],"visible":[129],"scene's":[130],"SDF":[131,137],"by":[132],"aligning":[133],"composing":[135],"representations":[138],"its":[140,182],"constituents,":[141],"providing":[142],"better":[143],"informed":[144],"optimization.":[150],"combines":[155],"best":[157],"both":[159],"stages,":[160],"achieving":[161],"success":[163],"rate":[164],"98%,":[166],"14.4%":[167],"higher":[168],"than":[169],"baseline":[170],"comparable":[172],"amortized":[173],"plan":[174],"on":[176],"iGibson":[177],"2.0.":[178],"We":[179],"also":[180],"demonstrate":[181],"effectiveness":[183],"adapting":[185],"realworld":[187],"scenarios.":[189],"video":[191],"demonstrations":[192],"code":[194],"are":[195],"available":[196],"https://stalhabukhari.github.io/icra25-sdf-dyn-nav.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}