{"id":"https://openalex.org/W4401416917","doi":"https://doi.org/10.1109/icra57147.2024.10610025","title":"ViPlanner: Visual Semantic Imperative Learning for Local Navigation","display_name":"ViPlanner: Visual Semantic Imperative Learning for Local Navigation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416917","doi":"https://doi.org/10.1109/icra57147.2024.10610025"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5109211076","display_name":"Pascal Roth","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pascal Roth","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014575365","display_name":"Julian Nubert","orcid":"https://orcid.org/0000-0001-8949-6134"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Julian Nubert","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100346613","display_name":"Fan Yang","orcid":"https://orcid.org/0000-0002-4452-4979"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan Yang","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088381068","display_name":"Mayank Mittal","orcid":"https://orcid.org/0000-0003-3783-7624"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mayank Mittal","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Robotic Systems Lab,Z&#x00FC;rich,Switzerland,8092","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.687,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.97059827,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5243","last_page":"5249"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9980000257492065,"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":0.9937999844551086,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7963399291038513},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4621056020259857},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45871785283088684},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.334913969039917}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7963399291038513},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4621056020259857},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45871785283088684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.334913969039917}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.5699999928474426,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W569478347","https://openalex.org/W1923344279","https://openalex.org/W1971086298","https://openalex.org/W2017001763","https://openalex.org/W2099893201","https://openalex.org/W2128990851","https://openalex.org/W2194775991","https://openalex.org/W2343568200","https://openalex.org/W2524241275","https://openalex.org/W2764255492","https://openalex.org/W2765757095","https://openalex.org/W2905173465","https://openalex.org/W2913921102","https://openalex.org/W2964339842","https://openalex.org/W3035076408","https://openalex.org/W3087390404","https://openalex.org/W3090360675","https://openalex.org/W3099533866","https://openalex.org/W3131482536","https://openalex.org/W3133466685","https://openalex.org/W3140042148","https://openalex.org/W3157464965","https://openalex.org/W3159481202","https://openalex.org/W3165528186","https://openalex.org/W3174748154","https://openalex.org/W3202883604","https://openalex.org/W3207399992","https://openalex.org/W3209352332","https://openalex.org/W4233654529","https://openalex.org/W4281479885","https://openalex.org/W4312441173","https://openalex.org/W4312755434","https://openalex.org/W4312815172","https://openalex.org/W4312959444","https://openalex.org/W4360823144","https://openalex.org/W4367016688","https://openalex.org/W4385430650","https://openalex.org/W4385430747","https://openalex.org/W4385858056","https://openalex.org/W4386156806","https://openalex.org/W4393285927","https://openalex.org/W6606411100","https://openalex.org/W6745935785","https://openalex.org/W6773029903","https://openalex.org/W6966311549","https://openalex.org/W6999953559"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Real-time":[0],"path":[1,77],"planning":[2,78,110],"in":[3,14,144,183,206],"outdoor":[4],"environments":[5,170],"still":[6],"challenges":[7],"modern":[8],"robotic":[9],"systems":[10],"due":[11],"to":[12,59,127,167,196,212],"differences":[13],"terrain":[15,50],"traversability,":[16],"diverse":[17,168],"obstacles,":[18],"and":[19,52,87,135,201,217],"the":[20,45,95,101,109,125,130,155,163,178],"necessity":[21],"for":[22,37,99],"fast":[23],"decision-making.":[24],"Established":[25],"approaches":[26],"have":[27,42],"primarily":[28],"focused":[29],"on":[30,85,108],"geometric":[31,39,62,86],"navigation":[32],"solutions,":[33],"which":[34,100,123],"work":[35],"well":[36],"structured":[38],"obstacles":[40],"but":[41],"limitations":[43],"regarding":[44],"semantic":[46,88,121,140],"interpretation":[47],"of":[48,119,132,158,204,208],"different":[49,133],"types":[51],"their":[53],"affordances.":[54],"Moreover,":[55],"these":[56,69],"methods":[57],"fail":[58],"identify":[60,137],"traversable":[61],"occurrences,":[63],"such":[64],"as":[65],"stairs.":[66],"To":[67],"overcome":[68],"issues,":[70],"we":[71],"introduce":[72],"ViPlanner,":[73],"a":[74,116,120,186,202],"learned":[75],"local":[76,82],"approach":[79],"that":[80,151,162],"generates":[81],"plans":[83],"based":[84,107],"information.":[89],"The":[90,139],"system":[91],"is":[92,142,180],"trained":[93,181],"using":[94,147],"Imperative":[96],"Learning":[97],"paradigm,":[98],"network":[102],"weights":[103],"are":[104,219],"optimized":[105],"end-to-end":[106],"task":[111],"objective.":[112],"This":[113],"optimization":[114],"uses":[115],"differentiable":[117],"formulation":[118],"costmap,":[122],"enables":[124],"planner":[126,164,179],"distinguish":[128],"between":[129],"traversability":[131,209],"terrains":[134],"accurately":[136],"obstacles.":[138],"information":[141],"represented":[143],"30":[145],"classes":[146],"an":[148],"RGB":[149],"colorspace":[150],"can":[152,165],"effectively":[153],"encode":[154],"multiple":[156],"levels":[157],"traversability.":[159],"We":[160],"show":[161],"adapt":[166],"real-world":[169,174],"without":[171],"requiring":[172],"any":[173],"training.":[175],"In":[176],"fact,":[177],"purely":[182,213],"simulation,":[184],"enabling":[185],"highly":[187],"scalable":[188],"training":[189],"data":[190],"generation.":[191],"Experimental":[192],"results":[193],"demonstrate":[194],"resistance":[195],"noise,":[197],"zero-shot":[198],"sim-to-real":[199],"transfer,":[200],"decrease":[203],"38.02%":[205],"terms":[207],"cost":[210],"compared":[211],"geometric-based":[214],"approaches.":[215],"Code":[216],"models":[218],"made":[220],"publicly":[221],"available:":[222],"https://github.com/leggedrobotics/viplanner.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
