{"id":"https://openalex.org/W4401413726","doi":"https://doi.org/10.1109/icra57147.2024.10611184","title":"Pre-Trained Masked Image Model for Mobile Robot Navigation","display_name":"Pre-Trained Masked Image Model for Mobile Robot Navigation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413726","doi":"https://doi.org/10.1109/icra57147.2024.10611184"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611184","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/A5111525508","display_name":"Vishnu Dutt Sharma","orcid":"https://orcid.org/0000-0003-4524-7675"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vishnu Dutt Sharma","raw_affiliation_strings":["University of Maryland,Dept. of Computer Science,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,Dept. of Computer Science,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030725689","display_name":"Anukriti Singh","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anukriti Singh","raw_affiliation_strings":["University of Maryland,Dept. of Computer Science,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,Dept. of Computer Science,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086188394","display_name":"Pratap Tokekar","orcid":"https://orcid.org/0000-0002-3715-0382"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pratap Tokekar","raw_affiliation_strings":["University of Maryland,Dept. of Computer Science,College Park,MD,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,Dept. of Computer Science,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5111525508"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":1.5123,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84911239,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5126","last_page":"5133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9980999827384949,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9976000189781189,"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":0.7381433248519897},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7136160135269165},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6939402222633362},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6438306570053101},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.52996426820755},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.4992551803588867},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4751560389995575},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2801024615764618}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7381433248519897},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7136160135269165},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6939402222633362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6438306570053101},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.52996426820755},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.4992551803588867},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4751560389995575},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2801024615764618}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611184","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1590932131","https://openalex.org/W1901129140","https://openalex.org/W2108598243","https://openalex.org/W2608020507","https://openalex.org/W2744720501","https://openalex.org/W2775495931","https://openalex.org/W2794331967","https://openalex.org/W2884565639","https://openalex.org/W2889749348","https://openalex.org/W2967657713","https://openalex.org/W3089935474","https://openalex.org/W3090912710","https://openalex.org/W3094502228","https://openalex.org/W3095530566","https://openalex.org/W3125430184","https://openalex.org/W3129641903","https://openalex.org/W3130186063","https://openalex.org/W3170863103","https://openalex.org/W3206845751","https://openalex.org/W3207570842","https://openalex.org/W3213836217","https://openalex.org/W4214610961","https://openalex.org/W4225793068","https://openalex.org/W4244777963","https://openalex.org/W4282981845","https://openalex.org/W4285102272","https://openalex.org/W4287111299","https://openalex.org/W4293566037","https://openalex.org/W4312544224","https://openalex.org/W4312685069","https://openalex.org/W4313156423","https://openalex.org/W4382468817","https://openalex.org/W4383108624","https://openalex.org/W4389665343","https://openalex.org/W4389665555","https://openalex.org/W6637162671","https://openalex.org/W6810914850","https://openalex.org/W6840041517"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W2093507260","https://openalex.org/W2562628082","https://openalex.org/W3114279067","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2523265608"],"abstract_inverted_index":{"2D":[0],"top-down":[1],"maps":[2,23],"are":[3],"commonly":[4],"used":[5],"for":[6,89,98,114],"the":[7,18,21,37,41,64,71,108,121],"navigation":[8,22],"and":[9,95],"exploration":[10,97],"of":[11,110,123],"mobile":[12],"robots":[13],"through":[14,43],"unknown":[15],"areas.":[16],"Typically,":[17],"robot":[19],"builds":[20],"incrementally":[24],"from":[25],"local":[26],"observations":[27],"using":[28,58],"onboard":[29],"sensors.":[30],"Recent":[31],"works":[32,54],"have":[33],"shown":[34],"that":[35,63],"predicting":[36],"structural":[38],"patterns":[39],"in":[40,120],"environment":[42],"learning-based":[44],"approaches":[45],"can":[46,69],"greatly":[47],"enhance":[48],"task":[49],"efficiency.":[50],"While":[51],"many":[52],"such":[53],"build":[55],"task-specific":[56],"networks":[57,68],"limited":[59],"datasets,":[60],"we":[61,77],"show":[62],"existing":[65],"foundational":[66,111],"vision":[67,112],"accomplish":[70],"same":[72],"without":[73],"any":[74],"fine-tuning.":[75],"Specifically,":[76],"use":[78,109],"Masked":[79],"Autoencoders,":[80],"pre-trained":[81],"on":[82],"street":[83],"images,":[84],"to":[85],"present":[86],"novel":[87],"applications":[88],"field-of-view":[90],"expansion,":[91],"single-agent":[92],"topological":[93],"exploration,":[94],"multi-agent":[96],"indoor":[99],"mapping,":[100],"across":[101],"different":[102],"input":[103],"modalities.":[104],"Our":[105],"work":[106],"motivates":[107],"models":[113],"generalized":[115],"structure":[116],"prediction-driven":[117],"applications,":[118],"especially":[119],"dearth":[122],"training":[124],"data.":[125],"We":[126],"share":[127],"more":[128],"qualitative":[129],"results":[130],"at":[131],"https://raaslab.org/projects/MIM4Robots.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}