{"id":"https://openalex.org/W4389667118","doi":"https://doi.org/10.1109/iros55552.2023.10341773","title":"Learning-Augmented Model-Based Planning for Visual Exploration","display_name":"Learning-Augmented Model-Based Planning for Visual Exploration","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667118","doi":"https://doi.org/10.1109/iros55552.2023.10341773"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100696471","display_name":"Yimeng Li","orcid":"https://orcid.org/0000-0002-5658-3706"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yimeng Li","raw_affiliation_strings":["George Mason University, University Dr,Department of Computer Science,Fairfax,VA,USA,4400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University, University Dr,Department of Computer Science,Fairfax,VA,USA,4400","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074543743","display_name":"Arnab Debnath","orcid":"https://orcid.org/0000-0003-1928-240X"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arnab Debnath","raw_affiliation_strings":["George Mason University, University Dr,Department of Computer Science,Fairfax,VA,USA,4400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University, University Dr,Department of Computer Science,Fairfax,VA,USA,4400","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042000667","display_name":"G. Stein","orcid":"https://orcid.org/0000-0003-1981-4154"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory J. Stein","raw_affiliation_strings":["George Mason University, University Dr,Department of Computer Science,Fairfax,VA,USA,4400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University, University Dr,Department of Computer Science,Fairfax,VA,USA,4400","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086078885","display_name":"Jana Ko\u0161eck\u00e1","orcid":"https://orcid.org/0000-0003-4619-3277"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jana Ko\u0161eck\u00e1","raw_affiliation_strings":["George Mason University, University Dr,Department of Computer Science,Fairfax,VA,USA,4400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University, University Dr,Department of Computer Science,Fairfax,VA,USA,4400","institution_ids":["https://openalex.org/I162714631"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162714631"],"apc_list":null,"apc_paid":null,"fwci":1.4566,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.88683828,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5165","last_page":"5171"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994999766349792,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994999766349792,"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":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.8215660452842712},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6159276366233826},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6113044619560242},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5965777635574341},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5035995841026306},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4921337962150574},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.48706772923469543}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8215660452842712},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6159276366233826},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6113044619560242},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5965777635574341},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5035995841026306},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4921337962150574},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.48706772923469543},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":44,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1999244633","https://openalex.org/W2039367092","https://openalex.org/W2107667896","https://openalex.org/W2168359464","https://openalex.org/W2623293810","https://openalex.org/W2953127211","https://openalex.org/W2962789679","https://openalex.org/W2964339842","https://openalex.org/W3009928773","https://openalex.org/W3034728521","https://openalex.org/W3040041096","https://openalex.org/W3090423738","https://openalex.org/W3095530566","https://openalex.org/W3097484130","https://openalex.org/W3134025030","https://openalex.org/W3206064780","https://openalex.org/W3206931309","https://openalex.org/W4285102272","https://openalex.org/W4286901425","https://openalex.org/W4287112297","https://openalex.org/W4293566037","https://openalex.org/W4294225490","https://openalex.org/W4306309401","https://openalex.org/W4312396969","https://openalex.org/W4312807436","https://openalex.org/W4313180266","https://openalex.org/W4386075653","https://openalex.org/W4386075729","https://openalex.org/W6747106673","https://openalex.org/W6748848655","https://openalex.org/W6755934310","https://openalex.org/W6758824984","https://openalex.org/W6773029903","https://openalex.org/W6780443396","https://openalex.org/W6784119104","https://openalex.org/W6784840303","https://openalex.org/W6797065961","https://openalex.org/W6800673378","https://openalex.org/W6802257716","https://openalex.org/W6803012412","https://openalex.org/W6843357306","https://openalex.org/W6845766269","https://openalex.org/W6846871237"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W2006251942","https://openalex.org/W4246538999","https://openalex.org/W4244698559","https://openalex.org/W2364741597","https://openalex.org/W2002361198","https://openalex.org/W56933075","https://openalex.org/W2168364913","https://openalex.org/W1492103595","https://openalex.org/W1548568597"],"abstract_inverted_index":{"We":[0,22,32,114,130],"consider":[1],"the":[2,43,82,87,90,108,127,145,151],"problem":[3],"of":[4,20,36,63,159],"time-limited":[5],"robotic":[6],"exploration":[7,13,26,52,140,153],"in":[8,60,157],"previously":[9],"unseen":[10],"environments":[11],"where":[12],"is":[14,104],"limited":[15],"by":[16,148,155],"a":[17,24,34,48,70,120],"predefined":[18],"amount":[19],"time.":[21],"propose":[23],"novel":[25],"approach":[27,118,133,143],"using":[28],"learning-augmented":[29],"model-based":[30,102],"planning.":[31],"generate":[33],"set":[35],"sub":[37],"goals":[38],"associated":[39,78],"with":[40,53,79,126,134],"frontiers":[41],"on":[42,119],"current":[44],"map":[45],"and":[46,58,89,136,150],"derive":[47],"Bellman":[49],"Equation":[50],"for":[51,68],"these":[54],"subgoals.":[55],"Visual":[56],"sensing":[57],"advances":[59],"semantic":[61],"mapping":[62],"indoor":[64,123],"scenes":[65],"are":[66],"exploited":[67],"training":[69],"deep":[71],"convolutional":[72],"neural":[73],"network":[74],"to":[75,97,106],"estimate":[76],"properties":[77],"each":[80],"frontier:":[81],"expected":[83,91],"unobserved":[84],"area":[85],"beyond":[86],"frontier":[88],"time":[92,112],"steps":[93],"(discretized":[94],"actions)":[95],"required":[96],"explore":[98,107],"it.":[99],"The":[100],"proposed":[101],"planner":[103],"guaranteed":[105],"whole":[109],"scene":[110],"if":[111],"permits.":[113],"thoroughly":[115],"evaluate":[116],"our":[117,132],"large-scale":[121],"pseudo-realistic":[122],"dataset":[124],"(Matterport3D)":[125],"Habitat":[128],"simulator.":[129],"compare":[131],"classical":[135],"more":[137],"recent":[138],"RL-based":[139,152],"methods.":[141],"Our":[142],"surpasses":[144],"greedy":[146],"strategies":[147],"2.1%":[149],"methods":[154],"8.4%":[156],"terms":[158],"coverage.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
