{"id":"https://openalex.org/W4413925756","doi":"https://doi.org/10.1109/icra55743.2025.11128475","title":"PROBE: Proprioceptive Obstacle Detection and Estimation while Navigating in Clutter","display_name":"PROBE: Proprioceptive Obstacle Detection and Estimation while Navigating in Clutter","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925756","doi":"https://doi.org/10.1109/icra55743.2025.11128475"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128475","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/A5113568176","display_name":"D. Ramesh","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dhruv Metha Ramesh","raw_affiliation_strings":["Rutgers University,Dept. of Computer Science,NJ,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Dept. of Computer Science,NJ,USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054223596","display_name":"Aravind Sivaramakrishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089985","display_name":"Amazon (Germany)","ror":"https://ror.org/00b9ktm87","country_code":"DE","type":"company","lineage":["https://openalex.org/I1311688040","https://openalex.org/I4210089985"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Aravind Sivaramakrishnan","raw_affiliation_strings":["Amazon.com Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon.com Inc","institution_ids":["https://openalex.org/I4210089985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051948358","display_name":"Shreesh Keskar","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreesh Keskar","raw_affiliation_strings":["Rutgers University,Dept. of Computer Science,NJ,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Dept. of Computer Science,NJ,USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["Professor at Rutgers University and as an Amazon Scholar"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Professor at Rutgers University and as an Amazon Scholar","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048925474","display_name":"Jingjin Yu","orcid":"https://orcid.org/0000-0002-7594-7798"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingjin Yu","raw_affiliation_strings":["Rutgers University,Dept. of Computer Science,NJ,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Dept. of Computer Science,NJ,USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068615270","display_name":"Abdeslam Boularias","orcid":"https://orcid.org/0000-0002-5587-4560"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdeslam Boularias","raw_affiliation_strings":["Rutgers University,Dept. of Computer Science,NJ,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Dept. of Computer Science,NJ,USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28208162,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"698","last_page":"704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.8496000170707703,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.8496000170707703,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.8086000084877014,"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/T10860","display_name":"Speech and Audio Processing","score":0.715499997138977,"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/clutter","display_name":"Clutter","score":0.8877952098846436},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8680843114852905},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.605096697807312},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.538504958152771},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4790540933609009},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4621705412864685},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.27073341608047485},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17171019315719604},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14927950501441956},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10652980208396912},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.05813196301460266}],"concepts":[{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.8877952098846436},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8680843114852905},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.605096697807312},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.538504958152771},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4790540933609009},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4621705412864685},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.27073341608047485},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17171019315719604},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14927950501441956},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10652980208396912},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.05813196301460266},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128475","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/G7866935457","display_name":null,"funder_award_id":"1846043,2132972","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1820821744","https://openalex.org/W1976172674","https://openalex.org/W1979266466","https://openalex.org/W2032211017","https://openalex.org/W2048800203","https://openalex.org/W2063930976","https://openalex.org/W2140291705","https://openalex.org/W2146881125","https://openalex.org/W2149085596","https://openalex.org/W2524140598","https://openalex.org/W2570268714","https://openalex.org/W2588796958","https://openalex.org/W2796766656","https://openalex.org/W2951360122","https://openalex.org/W2951446998","https://openalex.org/W2969017387","https://openalex.org/W3038535217","https://openalex.org/W3136315168","https://openalex.org/W3142183322","https://openalex.org/W4211222846","https://openalex.org/W4213073493","https://openalex.org/W4214522375","https://openalex.org/W4283787029","https://openalex.org/W4313036632"],"related_works":["https://openalex.org/W2126807813","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"],"abstract_inverted_index":{"In":[0],"critical":[1],"applications,":[2],"including":[3],"search-and-rescue":[4],"in":[5,55,82,117,129],"degraded":[6],"environments,":[7],"blockages":[8],"can":[9,143],"be":[10,144],"prevalent":[11],"and":[12,26,51,80,102,109,132],"prevent":[13],"the":[14,27,63,68,107,115,118],"effective":[15],"deployment":[16],"of":[17,30,32,72,99,106,114,122],"certain":[18],"sensing":[19],"modalities,":[20],"particularly":[21],"vision,":[22],"due":[23],"to":[24,39,66],"occlusion":[25],"constrained":[28],"range":[29],"view":[31],"onboard":[33],"camera":[34],"sensors.":[35],"To":[36],"enable":[37],"robots":[38],"tackle":[40],"these":[41],"challenges,":[42],"we":[43],"propose":[44],"a":[45,89,97,111,134],"new":[46],"approach,":[47],"Proprioceptive":[48],"Obstacle":[49],"Detection":[50],"Estimation":[52],"while":[53,76],"navigating":[54],"clutter":[56],"(PROBE),":[57],"which":[58],"instead":[59],"relies":[60],"only":[61],"on":[62,126],"robot's":[64],"proprioception":[65],"infer":[67],"presence":[69],"or":[70],"absence":[71],"occluded":[73],"rectangular":[74],"obstacles":[75,116],"predicting":[77],"their":[78],"dimensions":[79],"poses":[81],"SE":[83],"(2).":[84],"The":[85,120,140],"proposed":[86],"approach":[87],"is":[88,124],"Transformer":[90],"neural":[91],"network":[92],"that":[93],"receives":[94],"as":[95],"input":[96],"history":[98],"applied":[100],"torques":[101],"sensed":[103],"whole-body":[104],"movements":[105],"robot":[108],"returns":[110],"parameterized":[112],"representation":[113],"environment.":[119],"effectiveness":[121],"PROBE":[123],"evaluated":[125],"simulated":[127],"environments":[128],"Isaac":[130],"Gym":[131],"with":[133],"real":[135],"Unitree":[136],"Go1":[137],"quadruped":[138],"robot.":[139],"project":[141],"webpage":[142],"found":[145],"at":[146],"https://dhruvmetha.github.io/legged-probe/.":[147]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
