{"id":"https://openalex.org/W4416750169","doi":"https://doi.org/10.1109/iros60139.2025.11245813","title":"RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration","display_name":"RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750169","doi":"https://doi.org/10.1109/iros60139.2025.11245813"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5104453441","display_name":"Omar Alama","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Omar Alama","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077592877","display_name":"Avigyan Bhattacharya","orcid":"https://orcid.org/0000-0002-9567-1346"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Avigyan Bhattacharya","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020000412","display_name":"Hongmei He","orcid":"https://orcid.org/0000-0002-6653-8298"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haoyang He","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100723828","display_name":"Seungchan Kim","orcid":"https://orcid.org/0000-0002-3802-9293"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seungchan Kim","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058419676","display_name":"Yuheng Qiu","orcid":"https://orcid.org/0000-0003-2966-8103"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuheng Qiu","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101634794","display_name":"Wenshan Wang","orcid":"https://orcid.org/0000-0002-4488-5619"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenshan Wang","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002481819","display_name":"Cherie Ho","orcid":"https://orcid.org/0000-0003-1886-1020"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cherie Ho","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050116265","display_name":"Nikhil Keetha","orcid":"https://orcid.org/0000-0003-2770-0835"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil Keetha","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106892631","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8380-2361"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"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":"5930","last_page":"5937"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7440999746322632,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7440999746322632,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.061400000005960464,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.04179999977350235,"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/semantics","display_name":"Semantics (computer science)","score":0.7275000214576721},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5735999941825867},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5375999808311462},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4205000102519989},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.3944000005722046},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.37880000472068787},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.37299999594688416}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7702999711036682},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.7275000214576721},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6050000190734863},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5735999941825867},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5375999808311462},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4205000102519989},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.3944000005722046},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.37880000472068787},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.37299999594688416},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.3691999912261963},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3625999987125397},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.36230000853538513},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.33730000257492065},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.3319000005722046},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3228999972343445},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.31869998574256897},{"id":"https://openalex.org/C20556612","wikidata":"https://www.wikidata.org/wiki/Q4469374","display_name":"Volume (thermodynamics)","level":2,"score":0.2989000082015991},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.28610000014305115},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.26350000500679016}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":29,"referenced_works":["https://openalex.org/W2091657244","https://openalex.org/W2523049145","https://openalex.org/W2594519801","https://openalex.org/W2888144883","https://openalex.org/W2919379406","https://openalex.org/W2964226622","https://openalex.org/W2967352563","https://openalex.org/W4283332944","https://openalex.org/W4283786666","https://openalex.org/W4312960937","https://openalex.org/W4383108895","https://openalex.org/W4385416186","https://openalex.org/W4385431115","https://openalex.org/W4386065742","https://openalex.org/W4389692478","https://openalex.org/W4389819300","https://openalex.org/W4390873312","https://openalex.org/W4390874575","https://openalex.org/W4391547487","https://openalex.org/W4392866655","https://openalex.org/W4401414715","https://openalex.org/W4401416305","https://openalex.org/W4401417061","https://openalex.org/W4401990649","https://openalex.org/W4402354022","https://openalex.org/W4402716137","https://openalex.org/W4404612908","https://openalex.org/W4409262527","https://openalex.org/W4416748746"],"related_works":[],"abstract_inverted_index":{"Open-set":[0],"semantic":[1,60,119],"mapping":[2,9,129],"is":[3,131],"crucial":[4],"for":[5,149],"openworld":[6],"robots.":[7],"Current":[8],"approaches":[10],"either":[11],"are":[12],"limited":[13],"by":[14,125],"the":[15,79,106,147,165],"depth":[16],"range":[17],"or":[18],"only":[19],"map":[20,76],"beyond-range":[21,34,58,72,151],"entities":[22],"in":[23],"constrained":[24],"settings,":[25],"where":[26],"overall":[27],"they":[28],"fail":[29],"to":[30,67,81],"combine":[31],"within-range":[32,107],"and":[33,45,57,71,86,153,155],"observations.":[35],"Furthermore,":[36],"these":[37],"methods":[38],"make":[39,87],"a":[40,50,141],"trade-off":[41],"between":[42],"fine-grained":[43,112],"semantics":[44,66,108],"efficiency.":[46],"We":[47,139],"introduce":[48],"RayFronts,":[49],"unified":[51],"representation":[52],"that":[53,110,145],"enables":[54],"both":[55,68,90],"dense":[56],"efficient":[59],"mapping.":[61],"RayFronts":[62,157],"encodes":[63],"task-agnostic":[64],"openset":[65],"in-range":[69],"voxels":[70],"rays":[73],"encoded":[74],"at":[75,98],"boundaries,":[77],"empowering":[78],"robot":[80],"reduce":[82],"search":[83,152,159],"volumes":[84],"significantly":[85],"informed":[88],"decisions":[89],"within":[91],"&":[92],"beyond":[93],"sensory":[94],"range,":[95],"while":[96,122],"running":[97],"8.84":[99],"Hz":[100],"on":[101],"an":[102],"Orin":[103],"AGX.":[104],"Benchmarking":[105],"shows":[109],"RayFronts\u2019s":[111],"image":[113],"encoding":[114],"provides":[115],"1.34\u00d7":[116],"zero-shot":[117],"3D":[118],"segmentation":[120],"performance":[121,130],"improving":[123],"throughput":[124],"16.5\u00d7.":[126],"Traditionally,":[127],"online":[128,150,167],"entangled":[132],"with":[133],"other":[134],"system":[135],"components,":[136],"complicating":[137],"evaluation.":[138],"propose":[140],"planner-agnostic":[142],"evaluation":[143],"framework":[144],"captures":[146],"utility":[148],"exploration,":[154],"show":[156],"reduces":[158],"volume":[160],"2.2\u00d7":[161],"more":[162],"efficiently":[163],"than":[164],"closest":[166],"baselines.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}