{"id":"https://openalex.org/W4413925301","doi":"https://doi.org/10.1109/icra55743.2025.11128355","title":"LACNS: Language-Assisted Continuous Navigation in Structured Spaces","display_name":"LACNS: Language-Assisted Continuous Navigation in Structured Spaces","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925301","doi":"https://doi.org/10.1109/icra55743.2025.11128355"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128355","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":null,"display_name":"Rutong Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rutong Peng","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology,Beijing,P.R.China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology,Beijing,P.R.China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025546484","display_name":"Yiqing Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiqing Zhang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology,Beijing,P.R.China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology,Beijing,P.R.China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062124960","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0003-3964-2433"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology,Beijing,P.R.China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology,Beijing,P.R.China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091459774","display_name":"Mengyin Fu","orcid":"https://orcid.org/0000-0002-5520-7127"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengyin Fu","raw_affiliation_strings":["School of Automation, Beijing Institute of Technology,Beijing,P.R.China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing Institute of Technology,Beijing,P.R.China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2431","last_page":"2437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9959999918937683,"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/T12031","display_name":"Speech and dialogue systems","score":0.9959999918937683,"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/T10757","display_name":"Geographic Information Systems Studies","score":0.9700999855995178,"subfield":{"id":"https://openalex.org/subfields/3305","display_name":"Geography, Planning and Development"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.9607999920845032,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/computer-science","display_name":"Computer science","score":0.6415947675704956},{"id":"https://openalex.org/keywords/assisted-living","display_name":"Assisted living","score":0.4167899191379547},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08629986643791199}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6415947675704956},{"id":"https://openalex.org/C3018552312","wikidata":"https://www.wikidata.org/wiki/Q315412","display_name":"Assisted living","level":2,"score":0.4167899191379547},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08629986643791199},{"id":"https://openalex.org/C159110408","wikidata":"https://www.wikidata.org/wiki/Q121176","display_name":"Nursing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128355","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":11,"referenced_works":["https://openalex.org/W2963800628","https://openalex.org/W2970231061","https://openalex.org/W2974759213","https://openalex.org/W2979727876","https://openalex.org/W3034500398","https://openalex.org/W3091649779","https://openalex.org/W4312910992","https://openalex.org/W4360823144","https://openalex.org/W4401417061","https://openalex.org/W4402753604","https://openalex.org/W4403906537"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2048058523","https://openalex.org/W2779532185","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109"],"abstract_inverted_index":{"Current":[0],"autonomous":[1,55,229],"driving":[2,56,230],"technology":[3],"typically":[4],"relies":[5],"on":[6],"high-precision":[7],"(HD)":[8],"maps":[9,22,62],"to":[10,106,123,139,154,171],"ensure":[11],"safe,":[12],"reliable,":[13],"and":[14,29,117,149,159,194],"accurate":[15],"navigation":[16,126,174,205,231],"in":[17,49,176,203],"urban":[18],"environments.":[19],"While":[20],"these":[21],"provide":[23],"essential":[24],"road":[25],"information,":[26],"their":[27,34],"creation":[28],"maintenance":[30],"are":[31,110,137,152],"costly,":[32],"limiting":[33],"widespread":[35],"application.":[36],"To":[37],"mitigate":[38],"this":[39],"reliance,":[40],"we":[41],"propose":[42],"a":[43,82,91,104,132,156,212],"novel":[44,228],"system,":[45],"Language-Assisted":[46],"Continuous":[47],"Navigation":[48],"Structured":[50],"Spaces":[51],"(LACNS).":[52],"LACNS":[53,78,166,191,209],"facilitates":[54],"without":[57,233],"the":[58,86,100,114,120,141,146,161,168,224],"need":[59],"for":[60],"HD":[61,234],"by":[63,80,131],"integrating":[64],"vehicle-centric":[65],"local":[66],"perception":[67],"with":[68,119,186],"real-time":[69,204],"language":[70],"instructions":[71],"from":[72,99,113],"map":[73,84,116,151],"software":[74],"or":[75],"human":[76],"navigators.":[77],"begins":[79],"generating":[81],"BEV":[83,115,150],"using":[85,167],"vehicle's":[87,162],"front-facing":[88],"camera.":[89],"Simultaneously,":[90],"pretrained":[92,133],"Visual":[93],"Language":[94,128,135],"Model":[95],"(VLM)":[96],"detects":[97],"intersections":[98,185],"camera":[101],"images,":[102],"assigning":[103],"score":[105],"each.":[107],"Road":[108],"elements":[109],"then":[111],"extracted":[112],"combined":[118],"intersection":[121],"scores":[122],"identify":[124],"potential":[125],"frontiers.":[127],"instructions,":[129,189],"processed":[130],"Large":[134],"Model(LLM),":[136],"used":[138],"select":[140],"most":[142],"suitable":[143],"frontier.":[144],"Finally,":[145],"chosen":[147],"frontier":[148],"employed":[153],"plan":[155],"safe":[157],"route":[158],"control":[160],"movement.":[163],"We":[164],"evaluated":[165],"Carla":[169],"simulator":[170],"validate":[172],"its":[173],"capabilities":[175],"continuous":[177],"spaces.":[178],"Initial":[179],"experiments":[180],"involved":[181],"navigating":[182],"through":[183],"four":[184],"varying":[187],"directional":[188],"where":[190],"demonstrated":[192],"high":[193,213],"consistent":[195],"success":[196,214],"rates":[197],"across":[198,216],"multiple":[199],"trials.":[200],"Further":[201],"simulations":[202],"scenarios":[206],"revealed":[207],"that":[208],"consistently":[210],"maintained":[211],"rate":[215],"three":[217],"progressively":[218],"challenging":[219],"routes.":[220],"These":[221],"results":[222],"highlight":[223],"effectiveness":[225],"of":[226],"our":[227],"method":[232],"maps.":[235]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
