{"id":"https://openalex.org/W4405785507","doi":"https://doi.org/10.1109/iros58592.2024.10802416","title":"CASRL: Collision Avoidance with Spiking Reinforcement Learning Among Dynamic, Decision-Making Agents","display_name":"CASRL: Collision Avoidance with Spiking Reinforcement Learning Among Dynamic, Decision-Making Agents","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785507","doi":"https://doi.org/10.1109/iros58592.2024.10802416"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5100777289","display_name":"Chengjun Zhang","orcid":"https://orcid.org/0000-0002-8140-5362"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengjun Zhang","raw_affiliation_strings":["Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036818102","display_name":"Ka-Wa Yip","orcid":"https://orcid.org/0000-0002-3898-0783"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ka-Wa Yip","raw_affiliation_strings":["Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100657709","display_name":"Bo Yang","orcid":"https://orcid.org/0000-0002-8272-586X"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Yang","raw_affiliation_strings":["Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100352577","display_name":"Zhiyong Zhang","orcid":"https://orcid.org/0000-0001-7903-1544"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Zhang","raw_affiliation_strings":["Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068760851","display_name":"Mengwen Yuan","orcid":"https://orcid.org/0000-0002-4957-4289"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengwen Yuan","raw_affiliation_strings":["Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Computing,Zhejiang Lab,Hangzhou,China,311100","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046836420","display_name":"Rui Yan","orcid":"https://orcid.org/0000-0003-0048-3092"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Yan","raw_affiliation_strings":["Zhejiang University of Technology,College of Computer Science and Technology,Hangzhou,China,310014"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology,College of Computer Science and Technology,Hangzhou,China,310014","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090108695","display_name":"Huajin Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huajin Tang","raw_affiliation_strings":["Zhejiang University,College of Computer Science and Technology,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Computer Science and Technology,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8031","last_page":"8038"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9549000263214111,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9549000263214111,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8244004845619202},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.767331600189209},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6140710711479187},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.509231686592102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48315924406051636},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.42218494415283203},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3502974510192871},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.15473812818527222},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13484910130500793},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06519964337348938}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8244004845619202},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.767331600189209},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6140710711479187},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.509231686592102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48315924406051636},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.42218494415283203},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3502974510192871},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.15473812818527222},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13484910130500793},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06519964337348938}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W630739203","https://openalex.org/W1965760189","https://openalex.org/W1999085092","https://openalex.org/W2062731992","https://openalex.org/W2064675550","https://openalex.org/W2072337003","https://openalex.org/W2097639646","https://openalex.org/W2142943472","https://openalex.org/W2241553860","https://openalex.org/W2604216058","https://openalex.org/W2621826044","https://openalex.org/W2757453148","https://openalex.org/W2962954724","https://openalex.org/W2963809389","https://openalex.org/W2963821308","https://openalex.org/W2964319688","https://openalex.org/W2966513546","https://openalex.org/W2980764939","https://openalex.org/W2981759303","https://openalex.org/W3046044791","https://openalex.org/W3046186692","https://openalex.org/W3130821023","https://openalex.org/W4285338829","https://openalex.org/W4385245566","https://openalex.org/W4389665436","https://openalex.org/W4390278394","https://openalex.org/W6741002519","https://openalex.org/W6768810269","https://openalex.org/W6796289742","https://openalex.org/W6844652965","https://openalex.org/W6849153783"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W2742483371","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Developing":[0],"an":[1,94,118,133],"efficient":[2],"collision":[3,21,76],"avoidance":[4,22,77],"policy":[5,86],"with":[6,30,46,78,96,104],"Spiking":[7],"Reinforcement":[8],"Learning":[9],"for":[10,25,154],"dynamic,":[11],"decision-making":[12],"agents":[13,123],"remains":[14],"challenging.":[15],"Moreover,":[16],"the":[17,47],"implementation":[18],"of":[19,50,65,93,121,126,148],"energy-efficient":[20,37],"is":[23,114],"important":[24],"mobile":[26],"robots":[27],"that":[28,141],"operate":[29],"limited":[31],"on-board":[32],"computing":[33],"resources.":[34],"Most":[35],"existing":[36],"methods":[38],"via":[39],"spiking":[40,79,97,110],"reinforcement":[41,80,111],"learning":[42,81,112],"are":[43,55],"predominately":[44],"concerned":[45],"navigational":[48],"capabilities":[49],"a":[51,59,73,102,127,144],"single":[52],"agent,":[53],"and":[54,61,101,132,150],"unable":[56],"to":[57,116,160],"handle":[58,117],"large,":[60],"possibly":[62],"varying":[63],"number":[64,120],"agents.":[66],"To":[67],"overcome":[68],"these":[69],"limitations,":[70],"we":[71],"propose":[72],"model":[74,91],"called":[75],"(CASRL),":[82],"based":[83],"on":[84],"proximal":[85],"optimization":[87],"algorithms.":[88],"This":[89],"proposed":[90],"consists":[92],"actor":[95],"neural":[98,106],"networks":[99,107],"(SNNs)":[100],"critic":[103],"deep":[105],"(DNNs).":[108],"Our":[109],"algorithm":[113],"advantageous":[115],"arbitrary":[119],"other":[122],"by":[124],"virtue":[125],"spiking-gated":[128],"transformer":[129],"(SpikeGTr)":[130],"architecture":[131],"accumulate-to-fire":[134],"(ATF)":[135],"module.":[136],"Extensive":[137],"experimental":[138],"results":[139],"demonstrate":[140],"CASRL":[142],"obtains":[143],"competitive":[145],"success":[146],"rate":[147],"navigation":[149,155],"exhibits":[151],"higher":[152],"time-efficiency":[153],"in":[156],"crowded":[157],"scenarios":[158],"compared":[159],"traditional":[161],"DNN-based":[162],"methods.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
