{"id":"https://openalex.org/W4413945332","doi":"https://doi.org/10.1109/icra55743.2025.11128372","title":"Learning to Predict the Future from Monocular Vision for Efficient Human-Aware Navigation","display_name":"Learning to Predict the Future from Monocular Vision for Efficient Human-Aware Navigation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945332","doi":"https://doi.org/10.1109/icra55743.2025.11128372"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128372","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/A5091812602","display_name":"Yushuang Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yushuang Huang","raw_affiliation_strings":["University of Chinese Academy of Sciences,Beijing,China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,Beijing,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100650433","display_name":"Hao Jiang","orcid":"https://orcid.org/0000-0002-2914-154X"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Jiang","raw_affiliation_strings":["University of Chinese Academy of Sciences,Beijing,China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,Beijing,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052510810","display_name":"Zihan Liu","orcid":"https://orcid.org/0000-0001-8077-4492"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihan Liu","raw_affiliation_strings":["University of Chinese Academy of Sciences,Beijing,China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,Beijing,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087818121","display_name":"Wanli Ouyang","orcid":"https://orcid.org/0000-0002-9163-2761"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Wanli Ouyang","raw_affiliation_strings":["University of Sydney,Sydney,Australia"],"affiliations":[{"raw_affiliation_string":"University of Sydney,Sydney,Australia","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048120893","display_name":"Z. Y. Wang","orcid":"https://orcid.org/0009-0007-5775-9957"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoqi Wang","raw_affiliation_strings":["University of Chinese Academy of Sciences,Beijing,China"],"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,Beijing,China","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091812602"],"corresponding_institution_ids":["https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11857036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7555","last_page":"7561"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9607999920845032,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9607999920845032,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9291999936103821,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9010000228881836,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6962974071502686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5729617476463318},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5511882901191711},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.5372568964958191},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4562152922153473},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34559082984924316}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6962974071502686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5729617476463318},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5511882901191711},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.5372568964958191},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4562152922153473},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34559082984924316}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128372","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/G6501652919","display_name":null,"funder_award_id":"62172392","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":34,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1888172398","https://openalex.org/W1901129140","https://openalex.org/W1973207443","https://openalex.org/W2014767144","https://openalex.org/W2059993653","https://openalex.org/W2132400125","https://openalex.org/W2194775991","https://openalex.org/W2424778531","https://openalex.org/W2532516272","https://openalex.org/W2593841437","https://openalex.org/W2604216058","https://openalex.org/W2788239209","https://openalex.org/W2890001928","https://openalex.org/W2962789679","https://openalex.org/W2962954724","https://openalex.org/W2963722165","https://openalex.org/W2963821308","https://openalex.org/W2964319688","https://openalex.org/W2968008415","https://openalex.org/W2984168904","https://openalex.org/W3035232877","https://openalex.org/W3091067209","https://openalex.org/W3130407530","https://openalex.org/W3133988851","https://openalex.org/W3152777725","https://openalex.org/W3173993018","https://openalex.org/W3174887918","https://openalex.org/W3180130487","https://openalex.org/W3193492850","https://openalex.org/W3198923887","https://openalex.org/W3205884910","https://openalex.org/W4214643368","https://openalex.org/W4283785374"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W4385479288","https://openalex.org/W2755342338"],"abstract_inverted_index":{"Human-aware":[0],"navigation":[1,59],"(HAN)":[2],"aims":[3],"to":[4,17,39,75,80,150,154,183],"build":[5],"autonomous":[6],"agents":[7],"that":[8,33],"robustly":[9],"and":[10,20,37,159,186],"naturally":[11],"navigate":[12],"in":[13,71,85,89,101,128],"human-centered":[14],"environments.":[15,188],"Due":[16],"the":[18,77,81,90,102,131,152],"complex":[19],"dynamic":[21],"nature":[22],"of":[23,93,135,140,174],"this":[24,43],"task,":[25],"existing":[26],"approaches":[27],"typically":[28],"rely":[29],"on":[30],"sophisticated":[31],"pipelines":[32],"separately":[34],"process":[35],"perception":[36],"decision-making":[38],"solve":[40],"it.":[41],"In":[42],"work,":[44],"we":[45,105],"propose":[46],"an":[47,68],"Obstruction":[48,63,78],"Distance":[49,64,79],"Vector":[50,65],"based":[51],"End-to-End":[52],"Model":[53],"(ODVEEM),":[54],"using":[55],"monocular":[56],"vision":[57],"for":[58,110],"around":[60],"humans.":[61,137],"The":[62],"(ODV)":[66],"is":[67,148],"intermediate":[69],"representation":[70],"our":[72,167],"model,":[73],"leveraged":[74],"describe":[76],"first":[82],"future":[83,133],"collision":[84],"all":[86],"possible":[87],"directions":[88],"horizontal":[91],"field":[92],"view.":[94],"As":[95],"ODV":[96,111],"cannot":[97],"be":[98],"calculated":[99],"directly":[100],"real":[103],"world,":[104],"design":[106],"a":[107,116,125,156,172],"neural":[108],"network":[109],"estimation,":[112],"formulating":[113],"it":[114],"as":[115],"classification":[117],"problem":[118],"with":[119,180],"auxiliary":[120],"proxy":[121],"tasks,":[122],"which":[123],"play":[124],"key":[126],"role":[127],"effectively":[129],"predicting":[130],"implicit":[132],"motion":[134],"nearby":[136],"Taking":[138],"advantage":[139],"ODV,":[141],"ODVEEM":[142],"supervised":[143],"by":[144],"human":[145],"behavioral":[146],"heuristics":[147],"employed":[149],"guide":[151],"agent":[153],"reach":[155],"goal":[157],"efficiently":[158],"avoid":[160],"potential":[161],"collisions.":[162],"Several":[163],"challenging":[164],"experiments":[165],"show":[166],"method's":[168],"substantial":[169],"improvement":[170],"over":[171],"number":[173],"baseline":[175],"methods,":[176],"attaining":[177],"solid":[178],"performance":[179],"zero-shot":[181],"transfer":[182],"unseen":[184],"simulated":[185],"real-world":[187]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
