{"id":"https://openalex.org/W4312441173","doi":"https://doi.org/10.1109/iros47612.2022.9982190","title":"Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments","display_name":"Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312441173","doi":"https://doi.org/10.1109/iros47612.2022.9982190"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982190","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/561067","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090942799","display_name":"Jonas Frey","orcid":"https://orcid.org/0000-0001-8745-8468"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jonas Frey","raw_affiliation_strings":["ETH Zürich,Department of Mechanical and Process Engineering,Zürich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zürich,Department of Mechanical and Process Engineering,Zürich,Switzerland,8092","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046670804","display_name":"David Hoeller","orcid":"https://orcid.org/0000-0001-8010-9011"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"David Hoeller","raw_affiliation_strings":["ETH Zürich,Department of Mechanical and Process Engineering,Zürich,Switzerland,8092","NVIDIA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zürich,Department of Mechanical and Process Engineering,Zürich,Switzerland,8092","institution_ids":[]},{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076595826","display_name":"Shehryar Khattak","orcid":"https://orcid.org/0000-0002-9304-1455"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shehryar Khattak","raw_affiliation_strings":["ETH Zürich,Department of Mechanical and Process Engineering,Zürich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zürich,Department of Mechanical and Process Engineering,Zürich,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 Zürich,Department of Mechanical and Process Engineering,Zürich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zürich,Department of Mechanical and Process Engineering,Zürich,Switzerland,8092","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5722","last_page":"5729"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9957000017166138,"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":0.9955000281333923,"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/robot","display_name":"Robot","score":0.7715249061584473},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7254602313041687},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.7035526037216187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7001785635948181},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.6710212230682373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5728499889373779},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5568380355834961},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4742759168148041},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46146896481513977},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.42963501811027527},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42880675196647644},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.4204752743244171},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41514334082603455}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7715249061584473},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7254602313041687},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.7035526037216187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7001785635948181},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.6710212230682373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5728499889373779},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5568380355834961},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4742759168148041},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46146896481513977},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.42963501811027527},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42880675196647644},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.4204752743244171},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41514334082603455},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros47612.2022.9982190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982190","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/561067","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/561067","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/606001","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/606001","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000561067","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000561067","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/561067","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/561067","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6600000262260437,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G3422013772","display_name":null,"funder_award_id":"166232,188596","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"}],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1974868116","https://openalex.org/W2029315739","https://openalex.org/W2031456685","https://openalex.org/W2133844819","https://openalex.org/W2139710904","https://openalex.org/W2319961868","https://openalex.org/W2600201730","https://openalex.org/W2607968634","https://openalex.org/W2737234477","https://openalex.org/W2913921102","https://openalex.org/W2923943538","https://openalex.org/W2963125977","https://openalex.org/W2963182550","https://openalex.org/W3006552748","https://openalex.org/W3092218351","https://openalex.org/W3096387236","https://openalex.org/W3099726730","https://openalex.org/W3102129812","https://openalex.org/W3104141662","https://openalex.org/W3131341185","https://openalex.org/W3174748154","https://openalex.org/W3207399992","https://openalex.org/W3208741726","https://openalex.org/W3214103722","https://openalex.org/W4205430897","https://openalex.org/W4225669925","https://openalex.org/W4233654529","https://openalex.org/W4253729359","https://openalex.org/W4312749288","https://openalex.org/W6746463013","https://openalex.org/W6785452457","https://openalex.org/W6800004206","https://openalex.org/W6801964084","https://openalex.org/W6803223299"],"related_works":["https://openalex.org/W2366394613","https://openalex.org/W2152421698","https://openalex.org/W2990193004","https://openalex.org/W4285102152","https://openalex.org/W2793035520","https://openalex.org/W3139820740","https://openalex.org/W1977147705","https://openalex.org/W2072574810","https://openalex.org/W2150628115","https://openalex.org/W2980055948"],"abstract_inverted_index":{"Despite":[0],"the":[1,17,21,25,42,46,52,64,73,88,95,114,133,144,152,162,165,175,186,199,211],"progress":[2],"in":[3,9,110,119,164,185,216],"legged":[4,212],"robotic":[5],"locomotion,":[6],"autonomous":[7],"navigation":[8,18],"unknown":[10],"environments":[11],"remains":[12],"an":[13,157],"open":[14],"problem.":[15],"Ideally,":[16],"system":[19],"utilizes":[20],"full":[22],"potential":[23],"of":[24,45,106,125,161,167,188,198],"robots'":[26],"locomotion":[27,54,91,116,127,154],"capabilities":[28],"while":[29],"operating":[30],"within":[31],"safety":[32],"limits":[33],"under":[34],"uncertainty.":[35],"The":[36,196],"robot":[37,89,213],"must":[38],"sense":[39],"and":[40,56,90,191,219],"analyze":[41],"travers":[43,201],"ability":[44,202],"surrounding":[47],"terrain,":[48],"which":[49,148,182],"depends":[50],"on":[51,132],"hardware,":[53],"control,":[55],"terrain":[57],"properties.":[58],"It":[59],"may":[60],"contain":[61],"information":[62,86],"about":[63,87],"risk,":[65],"energy,":[66],"or":[67,193],"time":[68],"consumption":[69],"needed":[70],"to":[71,83,121,142,151],"traverse":[72],"terrain.":[74],"To":[75],"avoid":[76],"hand-crafted":[77],"traversability":[78,85,146],"cost":[79],"functions":[80],"we":[81],"propose":[82],"collect":[84],"policy":[92,117],"by":[93,113],"simulating":[94],"traversal":[96],"over":[97],"randomly":[98],"generated":[99],"terrains":[100],"using":[101],"a":[102,136,168],"physics":[103],"simulator.":[104],"Thousand":[105],"robots":[107],"are":[108,183],"simulated":[109,145],"parallel":[111],"controlled":[112],"same":[115],"used":[118,179],"reality":[120],"acquire":[122],"57":[123],"years":[124],"real-world":[126],"experience":[128],"equivalent.":[129],"For":[130],"deployment":[131],"real":[134],"robot,":[135],"sparse":[137],"convolutional":[138],"network":[139,204],"is":[140,149,205],"trained":[141],"predict":[143],"cost,":[147],"tailored":[150],"deployed":[153],"policy,":[155],"from":[156],"entirely":[158],"geometric":[159],"representation":[160],"envi-ronment":[163],"form":[166],"3D":[169],"voxel-occupancy":[170],"map.":[171],"This":[172],"rep-resentation":[173],"avoids":[174],"need":[176],"for":[177,207,210],"commonly":[178],"elevation":[180],"maps,":[181],"error-prone":[184],"presence":[187],"overhanging":[189],"obstacles":[190],"multi-floor":[192],"low-ceiling":[194],"scenarios.":[195],"effectiveness":[197],"proposed":[200],"prediction":[203],"demonstrated":[206],"path":[208],"planning":[209],"ANY":[214],"mal":[215],"various":[217],"indoor":[218],"natural":[220],"environments.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":14}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2023-01-04T00:00:00"}