{"id":"https://openalex.org/W2963428623","doi":"https://doi.org/10.1109/iros.2017.8202134","title":"Virtual-to-real deep reinforcement learning: Continuous control of mobile robots for mapless navigation","display_name":"Virtual-to-real deep reinforcement learning: Continuous control of mobile robots for mapless navigation","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2963428623","doi":"https://doi.org/10.1109/iros.2017.8202134","mag":"2963428623"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":null,"display_name":"Lei Tai","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Lei Tai","raw_affiliation_strings":["ECE, the HKUST","MBE, City University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ECE, the HKUST","institution_ids":["https://openalex.org/I200769079"]},{"raw_affiliation_string":"MBE, City University of Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042425097","display_name":"Giuseppe Paolo","orcid":"https://orcid.org/0000-0003-4201-5967"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Giuseppe Paolo","raw_affiliation_strings":["D-MAVT, ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"D-MAVT, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["ECE, the HKUST"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ECE, the HKUST","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":25.7934,"has_fulltext":false,"cited_by_count":804,"citation_normalized_percentile":{"value":0.99672427,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"31","last_page":"36"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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/mobile-robot","display_name":"Mobile robot","score":0.7604339122772217},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7345011234283447},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6693042516708374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6550099849700928},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6427531242370605},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5784116387367249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5591464042663574},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5107564926147461},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5062069296836853},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4865792989730835},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44791895151138306},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.422277569770813}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7604339122772217},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7345011234283447},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6693042516708374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6550099849700928},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6427531242370605},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5784116387367249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5591464042663574},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5107564926147461},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5062069296836853},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4865792989730835},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44791895151138306},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.422277569770813},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8202134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-89298","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-89298","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1746819321","https://openalex.org/W1977655452","https://openalex.org/W2038396847","https://openalex.org/W2082511574","https://openalex.org/W2119112357","https://openalex.org/W2121092017","https://openalex.org/W2133233905","https://openalex.org/W2145339207","https://openalex.org/W2146881125","https://openalex.org/W2173248099","https://openalex.org/W2227909145","https://openalex.org/W2524241275","https://openalex.org/W2528501250","https://openalex.org/W2553532229","https://openalex.org/W2567015638","https://openalex.org/W2575705757","https://openalex.org/W2583598337","https://openalex.org/W2950471160","https://openalex.org/W2962887844","https://openalex.org/W2962938178","https://openalex.org/W2962957005","https://openalex.org/W2963019567","https://openalex.org/W2963864421","https://openalex.org/W2964043796","https://openalex.org/W2964121744","https://openalex.org/W4211049957","https://openalex.org/W4297795161","https://openalex.org/W6692846177","https://openalex.org/W6696324988"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691","https://openalex.org/W2050548713","https://openalex.org/W4380590094"],"abstract_inverted_index":{"We":[0,75],"present":[1],"a":[2,43,85],"learning-based":[3],"mapless":[4,86,120],"motion":[5,36,87,121],"planner":[6,88,103,122],"by":[7],"taking":[8],"the":[9,15,21,29,50,54,59,65,71,118,125,130],"sparse":[10],"10-dimensional":[11],"range":[12,45],"findings":[13],"and":[14,28,64,98,111],"target":[16],"position":[17],"with":[18,42,135],"respect":[19],"to":[20,129],"mobile":[22,39,127],"robot":[23,128],"coordinate":[24],"frame":[25],"as":[26,33],"input":[27],"continuous":[30],"steering":[31],"commands":[32],"output.":[34],"Traditional":[35],"planners":[37],"for":[38],"ground":[40],"robots":[41],"laser":[44,62],"sensor":[46,63],"mostly":[47],"depend":[48],"on":[49],"obstacle":[51,66],"map":[52,67],"of":[53,70],"navigation":[55],"environment":[56,72],"where":[57],"both":[58],"highly":[60],"precise":[61],"building":[68],"work":[69],"are":[73],"indispensable.":[74],"show":[76,116],"that,":[77],"through":[78],"an":[79],"asynchronous":[80],"deep":[81],"reinforcement":[82],"learning":[83],"method,":[84],"can":[89,104,123],"be":[90,105],"trained":[91,102],"end-to-end":[92],"without":[93,133],"any":[94,136],"manually":[95],"designed":[96],"features":[97],"prior":[99],"demonstrations.":[100],"The":[101,114],"directly":[106],"applied":[107],"in":[108],"unseen":[109],"virtual":[110],"real":[112],"environments.":[113],"experiments":[115],"that":[117],"proposed":[119],"navigate":[124],"nonholonomic":[126],"desired":[131],"targets":[132],"colliding":[134],"obstacles.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":24},{"year":2025,"cited_by_count":75},{"year":2024,"cited_by_count":76},{"year":2023,"cited_by_count":103},{"year":2022,"cited_by_count":108},{"year":2021,"cited_by_count":132},{"year":2020,"cited_by_count":151},{"year":2019,"cited_by_count":83},{"year":2018,"cited_by_count":47},{"year":2017,"cited_by_count":5}],"updated_date":"2026-07-11T18:08:03.149640","created_date":"2025-10-10T00:00:00"}
