{"id":"https://openalex.org/W4401414731","doi":"https://doi.org/10.1109/icra57147.2024.10610847","title":"SCALE: Self-Correcting Visual Navigation for Mobile Robots via Anti-Novelty Estimation","display_name":"SCALE: Self-Correcting Visual Navigation for Mobile Robots via Anti-Novelty Estimation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414731","doi":"https://doi.org/10.1109/icra57147.2024.10610847"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610847","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610847","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/A5100449502","display_name":"Chang Chen","orcid":"https://orcid.org/0000-0003-4165-3545"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chang Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,School of Science and Engineering,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064580686","display_name":"Yuecheng Liu","orcid":"https://orcid.org/0000-0002-3683-7959"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yuecheng Liu","raw_affiliation_strings":["Huawei Noah&#x2019;s Ark Lab"],"affiliations":[{"raw_affiliation_string":"Huawei Noah&#x2019;s Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011036128","display_name":"Yuzheng Zhuang","orcid":"https://orcid.org/0000-0002-0915-0254"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yuzheng Zhuang","raw_affiliation_strings":["Huawei Noah&#x2019;s Ark Lab"],"affiliations":[{"raw_affiliation_string":"Huawei Noah&#x2019;s Ark Lab","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062329742","display_name":"Sitong Mao","orcid":"https://orcid.org/0000-0003-2490-2896"},"institutions":[{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sitong Mao","raw_affiliation_strings":["Shenzhen Huawei Cloud Computing Technologies Co., Ltd.,Edge Cloud Innovation Lab"],"affiliations":[{"raw_affiliation_string":"Shenzhen Huawei Cloud Computing Technologies Co., Ltd.,Edge Cloud Innovation Lab","institution_ids":["https://openalex.org/I4210144487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039623051","display_name":"Kaiwen Xue","orcid":"https://orcid.org/0000-0003-1931-7852"},"institutions":[{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaiwen Xue","raw_affiliation_strings":["Shenzhen Huawei Cloud Computing Technologies Co., Ltd.,Edge Cloud Innovation Lab"],"affiliations":[{"raw_affiliation_string":"Shenzhen Huawei Cloud Computing Technologies Co., Ltd.,Edge Cloud Innovation Lab","institution_ids":["https://openalex.org/I4210144487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042268476","display_name":"Shunbo Zhou","orcid":"https://orcid.org/0000-0002-6077-4951"},"institutions":[{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shunbo Zhou","raw_affiliation_strings":["Shenzhen Huawei Cloud Computing Technologies Co., Ltd.,Edge Cloud Innovation Lab"],"affiliations":[{"raw_affiliation_string":"Shenzhen Huawei Cloud Computing Technologies Co., Ltd.,Edge Cloud Innovation Lab","institution_ids":["https://openalex.org/I4210144487"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100449502"],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":1.0878,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.80872175,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"16360","last_page":"16366"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","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/T11512","display_name":"Anomaly Detection Techniques and Applications","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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9722999930381775,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9678000211715698,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/mobile-robot","display_name":"Mobile robot","score":0.7526913285255432},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.7505286335945129},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.738518238067627},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6160842180252075},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5232518911361694},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5210577845573425},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5172024965286255},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4897947311401367},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42341309785842896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10936537384986877},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0780729353427887}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7526913285255432},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.7505286335945129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.738518238067627},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6160842180252075},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5232518911361694},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5210577845573425},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5172024965286255},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4897947311401367},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42341309785842896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10936537384986877},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0780729353427887},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610847","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610847","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1924770834","https://openalex.org/W2752796333","https://openalex.org/W2760103357","https://openalex.org/W2786472725","https://openalex.org/W2798483995","https://openalex.org/W2908510526","https://openalex.org/W2962789679","https://openalex.org/W2962907394","https://openalex.org/W2963238274","https://openalex.org/W2963799213","https://openalex.org/W2963948945","https://openalex.org/W2964067469","https://openalex.org/W2966477753","https://openalex.org/W2978455699","https://openalex.org/W3011144238","https://openalex.org/W3034728521","https://openalex.org/W3127454018","https://openalex.org/W3127756416","https://openalex.org/W3132408792","https://openalex.org/W3168236455","https://openalex.org/W3203187896","https://openalex.org/W3205239453","https://openalex.org/W3205794883","https://openalex.org/W3207837114","https://openalex.org/W4286901425","https://openalex.org/W4286905705","https://openalex.org/W4287215707","https://openalex.org/W4288021424","https://openalex.org/W4293469690","https://openalex.org/W4294225490","https://openalex.org/W4300799055","https://openalex.org/W4311316684","https://openalex.org/W4311992093","https://openalex.org/W4312282783","https://openalex.org/W4318907270","https://openalex.org/W4382334278","https://openalex.org/W4383108856","https://openalex.org/W6634616096","https://openalex.org/W6640212811","https://openalex.org/W6729906282","https://openalex.org/W6730042731","https://openalex.org/W6735003056","https://openalex.org/W6740801417","https://openalex.org/W6756303580","https://openalex.org/W6757817989","https://openalex.org/W6767649332","https://openalex.org/W6774815639","https://openalex.org/W6780226713","https://openalex.org/W6802203484","https://openalex.org/W6802659552","https://openalex.org/W6803012412","https://openalex.org/W6840312789","https://openalex.org/W6843457338","https://openalex.org/W6846145766","https://openalex.org/W6847391325","https://openalex.org/W6850074544","https://openalex.org/W6853468020"],"related_works":["https://openalex.org/W2381242807","https://openalex.org/W3126131230","https://openalex.org/W2347541121","https://openalex.org/W2080951048","https://openalex.org/W4288804799","https://openalex.org/W3032237421","https://openalex.org/W2390346111","https://openalex.org/W3011883280","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Although":[0],"visual":[1,71],"navigation":[2,72,121,179],"has":[3],"been":[4],"extensively":[5],"studied":[6],"using":[7],"deep":[8],"reinforcement":[9,95],"learning,":[10],"online":[11],"learning":[12,96,118],"for":[13,51,138,177,191],"real-world":[14,33,164],"robots":[15],"remains":[16],"a":[17,48,69,181],"challenging":[18],"task.":[19],"Recent":[20],"work":[21],"directly":[22],"learned":[23],"from":[24,81,119],"offline":[25,94,156],"dataset":[26],"to":[27,150],"achieve":[28],"broader":[29],"generalization":[30],"in":[31,47,162],"the":[32,38,57,79,82,113,120,125,139,142,148,151,173,189],"tasks,":[34],"which,":[35],"however,":[36],"faces":[37],"out-of-distribution":[39],"(OOD)":[40],"issue":[41],"and":[42,60,123,158],"potential":[43,114],"robot":[44,80,149],"localization":[45,109,185],"failures":[46],"given":[49],"map":[50],"unseen":[52],"observation.":[53],"This":[54],"significantly":[55,187],"drops":[56],"success":[58],"rates":[59],"even":[61],"induces":[62],"collision.":[63],"In":[64],"this":[65],"paper,":[66],"we":[67,89],"present":[68],"self-correcting":[70],"method,":[73],"SCALE,":[74],"that":[75,145,170],"can":[76,146],"autonomously":[77],"prevent":[78],"OOD":[83,105],"situations":[84],"without":[85],"human":[86,192],"intervention.":[87,193],"Specifically,":[88],"develop":[90],"an":[91],"image-goal":[92],"conditioned":[93],"method":[97,111],"based":[98],"on":[99],"implicit":[100],"Q-learning":[101],"(IQL).":[102],"When":[103],"facing":[104],"observation,":[106],"our":[107],"novel":[108],"recovery":[110],"generates":[112],"future":[115,126],"trajectories":[116],"by":[117],"affordance,":[122],"estimates":[124],"novelty":[127,144],"via":[128],"random":[129],"network":[130],"distillation":[131],"(RND).":[132],"A":[133],"tailored":[134],"cost":[135],"function":[136],"searches":[137],"candidates":[140],"with":[141,180],"least":[143],"lead":[147],"familiar":[152],"places.":[153],"We":[154],"collect":[155],"data":[157],"conduct":[159],"evaluation":[160],"experiments":[161],"three":[163],"urban":[165],"scenarios.":[166],"Experiment":[167],"results":[168],"show":[169],"SCALE":[171],"outperforms":[172],"previous":[174],"state-of-the-art":[175],"methods":[176],"open-world":[178],"unique":[182],"capability":[183],"of":[184],"recovery,":[186],"reducing":[188],"need":[190],"Code":[194],"is":[195],"available":[196],"at":[197],"https://github.com/KubeEdge4Robotics/ScaleNav.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
