{"id":"https://openalex.org/W4416251488","doi":"https://doi.org/10.1109/ijcnn64981.2025.11228224","title":"LaMDEN: Addressing Elevator-Based Navigation with Large Language Models and 3D Scene Graphs","display_name":"LaMDEN: Addressing Elevator-Based Navigation with Large Language Models and 3D Scene Graphs","publication_year":2025,"publication_date":"2025-06-30","ids":{"openalex":"https://openalex.org/W4416251488","doi":"https://doi.org/10.1109/ijcnn64981.2025.11228224"},"language":null,"primary_location":{"id":"doi:10.1109/ijcnn64981.2025.11228224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn64981.2025.11228224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Joint Conference on Neural Networks (IJCNN)","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/A5109453835","display_name":"Huzhenyu Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089467","display_name":"Institute of Physics and Technology","ror":"https://ror.org/005n3yy14","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210089467"]},{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Huzhenyu Zhang","raw_affiliation_strings":["Moscow Institute of Physics and Technology,Russia,141701"],"affiliations":[{"raw_affiliation_string":"Moscow Institute of Physics and Technology,Russia,141701","institution_ids":["https://openalex.org/I4210089467","https://openalex.org/I153845743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043502396","display_name":"Dmitry Yudin","orcid":null},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]},{"id":"https://openalex.org/I4210089467","display_name":"Institute of Physics and Technology","ror":"https://ror.org/005n3yy14","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210089467"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dmitry Yudin","raw_affiliation_strings":["Moscow Institute of Physics and Technology,Russia,141701"],"affiliations":[{"raw_affiliation_string":"Moscow Institute of Physics and Technology,Russia,141701","institution_ids":["https://openalex.org/I4210089467","https://openalex.org/I153845743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109453835"],"corresponding_institution_ids":["https://openalex.org/I153845743","https://openalex.org/I4210089467"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4555171,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14011","display_name":"Elevator Systems and Control","score":0.5493999719619751,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T14011","display_name":"Elevator Systems and Control","score":0.5493999719619751,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.08299999684095383,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.06960000097751617,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/construct","display_name":"Construct (python library)","score":0.6449999809265137},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.5533999800682068},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5324000120162964},{"id":"https://openalex.org/keywords/elevator","display_name":"Elevator","score":0.5313000082969666},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.47850000858306885},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4465000033378601},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.3698999881744385}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7594000101089478},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6449999809265137},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5740000009536743},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.5533999800682068},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5324000120162964},{"id":"https://openalex.org/C147021018","wikidata":"https://www.wikidata.org/wiki/Q252451","display_name":"Elevator","level":2,"score":0.5313000082969666},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.47850000858306885},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4465000033378601},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38449999690055847},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.3698999881744385},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3684999942779541},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.33399999141693115},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.3276999890804291},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.3116999864578247},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.29980000853538513},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn64981.2025.11228224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn64981.2025.11228224","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Joint Conference on Neural Networks (IJCNN)","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":13,"referenced_works":["https://openalex.org/W2594519801","https://openalex.org/W2953127211","https://openalex.org/W2964339842","https://openalex.org/W3027372030","https://openalex.org/W3120930509","https://openalex.org/W4385431115","https://openalex.org/W4390905188","https://openalex.org/W4401414715","https://openalex.org/W4402354022","https://openalex.org/W4405785620","https://openalex.org/W4408100258","https://openalex.org/W4413917118","https://openalex.org/W4415798884"],"related_works":[],"abstract_inverted_index":{"Multi-Floor":[0],"navigation":[1,28,52],"has":[2],"become":[3],"an":[4,22],"increasingly":[5],"important":[6],"topic":[7],"in":[8,53,81,133,162],"the":[9,48,129,139],"robotics":[10],"research":[11,161],"community.":[12],"Among":[13],"various":[14],"approaches,":[15],"3D":[16,88,151],"scene":[17,35,89,152],"graphs":[18,36],"have":[19],"emerged":[20],"as":[21,114],"effective":[23],"tool":[24],"for":[25,75,150,159],"addressing":[26],"multi-floor":[27,54,77],"challenges.":[29],"However,":[30],"existing":[31],"methods":[32],"typically":[33],"construct":[34],"using":[37],"pre-collected":[38],"datasets":[39],"that":[40],"mainly":[41],"focus":[42],"on":[43],"stair-based":[44],"navigation,":[45],"largely":[46],"overlooking":[47],"more":[49],"common":[50],"elevator-based":[51,76,135],"buildings.":[55],"In":[56],"this":[57,61,163],"paper,":[58],"we":[59,144],"bridge":[60],"gap":[62],"by":[63],"introducing":[64],"LaMDEN":[65,79,132],"(Large":[66],"language":[67],"Model-Driven":[68],"Elevator":[69],"Navigation),":[70],"a":[71,87,146,156],"novel":[72],"framework":[73],"designed":[74],"navigation.":[78,126],"operates":[80],"two":[82],"stages:":[83],"it":[84],"first":[85],"constructs":[86],"graph":[90,153],"from":[91],"RGB-D":[92],"sequences":[93],"paired":[94],"with":[95],"camera":[96],"poses,":[97],"and":[98,118,166],"then":[99],"leverages":[100],"Large":[101],"Language":[102],"Models":[103],"(LLMs)":[104],"to":[105],"decompose":[106],"high-level,":[107],"long-horizon":[108],"instructions":[109],"into":[110],"actionable":[111],"primitives,":[112],"such":[113],"pressing":[115],"elevator":[116],"buttons":[117],"entering":[119],"or":[120],"exiting":[121],"elevators,":[122],"enabling":[123],"smooth":[124],"cross-floor":[125],"We":[127],"validate":[128],"effectiveness":[130],"of":[131],"complex":[134],"environments":[136],"built":[137],"within":[138],"Isaac":[140],"Sim":[141],"simulator.":[142],"Furthermore,":[143],"release":[145],"newly":[147],"collected":[148],"dataset":[149,167],"construction,":[154],"providing":[155],"valuable":[157],"resource":[158],"advancing":[160],"area.":[164],"Code":[165],"are":[168],"publicly":[169],"available":[170],"at:":[171],"https://github.com/zhanghuzhenyu/mul-floor-navigation.":[172]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-14T00:00:00"}
