{"id":"https://openalex.org/W4416748472","doi":"https://doi.org/10.1109/iros60139.2025.11246317","title":"LITE: A Learning-Integrated Topological Explorer for Multi-Floor Indoor Environments","display_name":"LITE: A Learning-Integrated Topological Explorer for Multi-Floor Indoor Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748472","doi":"https://doi.org/10.1109/iros60139.2025.11246317"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246317","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":"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":"https://openalex.org/A5115593751","display_name":"Junhao Chen","orcid":"https://orcid.org/0009-0009-1282-2195"},"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":"Junhao Chen","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028310716","display_name":"Zhen Zhang","orcid":"https://orcid.org/0000-0001-6966-0208"},"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":"Zhen Zhang","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103758927","display_name":"Chengrui Zhu","orcid":"https://orcid.org/0009-0000-1837-4586"},"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":"Chengrui Zhu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103156798","display_name":"Xiaojun Hou","orcid":"https://orcid.org/0000-0002-5344-8517"},"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":"Xiaojun Hou","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084382353","display_name":"Tianyang Hu","orcid":"https://orcid.org/0000-0001-6884-729X"},"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":"Tianyang Hu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006977942","display_name":"Huifeng Wu","orcid":"https://orcid.org/0000-0002-7189-1205"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huifeng Wu","raw_affiliation_strings":["Hangzhou Dianzi University,Hangzhou,China,310018"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hangzhou Dianzi University,Hangzhou,China,310018","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724297","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0003-4822-8939"},"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":"Yong Liu","raw_affiliation_strings":["Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,Institute of Cyber-Systems and Control,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42406848,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9533","last_page":"9540"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5638999938964844,"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":0.5638999938964844,"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":0.30399999022483826,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.018400000408291817,"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/baseline","display_name":"Baseline (sea)","score":0.544700026512146},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5440000295639038},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4781000018119812},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4345000088214874},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.39980000257492065},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.30959999561309814}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6571000218391418},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.544700026512146},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5440000295639038},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4781000018119812},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4345000088214874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42480000853538513},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.39980000257492065},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38260000944137573},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.30959999561309814},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C2776477805","wikidata":"https://www.wikidata.org/wiki/Q4460773","display_name":"Topological data analysis","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.28060001134872437},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.2770000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246317","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":24,"referenced_works":["https://openalex.org/W1999244633","https://openalex.org/W2089437550","https://openalex.org/W2107667896","https://openalex.org/W2131244428","https://openalex.org/W2409009991","https://openalex.org/W2910054127","https://openalex.org/W2951360122","https://openalex.org/W2963080995","https://openalex.org/W2964339842","https://openalex.org/W2973864946","https://openalex.org/W3080619018","https://openalex.org/W3090437565","https://openalex.org/W3096241302","https://openalex.org/W3097090618","https://openalex.org/W3133136962","https://openalex.org/W3164056737","https://openalex.org/W3194521805","https://openalex.org/W4283791212","https://openalex.org/W4285102342","https://openalex.org/W4382993199","https://openalex.org/W4383109033","https://openalex.org/W4390874575","https://openalex.org/W4392979611","https://openalex.org/W4393140478"],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1],"focuses":[2],"on":[3,136],"multi-floor":[4,52,164,179],"indoor":[5,53,180],"exploration,":[6],"which":[7],"remains":[8],"an":[9,103,110],"open":[10],"area":[11],"of":[12,66,156],"research.":[13],"Compared":[14],"to":[15,26,38,113],"traditional":[16],"methods,":[17,176],"recent":[18],"learning-based":[19],"explorers":[20,153],"have":[21],"demonstrated":[22],"significant":[23],"potential":[24],"due":[25],"their":[27],"robust":[28],"environmental":[29],"learning":[30,67],"and":[31,132,139],"modeling":[32],"capabilities,":[33],"but":[34],"most":[35],"are":[36],"restricted":[37],"2D":[39,70,105,146,174],"environments.":[40,54],"In":[41],"this":[42],"paper,":[43],"we":[44,77,101,183],"proposed":[45,145],"a":[46,60,96,192],"learning-integrated":[47],"topological":[48],"explorer,":[49],"LITE,":[50],"for":[51,73,126],"LITE":[55],"decomposes":[56],"the":[57,89,122,137,188],"environment":[58],"into":[59],"floor-stair":[61,80],"topology,":[62],"enabling":[63],"seamless":[64],"integration":[65],"or":[68],"non-learning-based":[69],"exploration":[71,83,106,147,157,175],"methods":[72],"3D":[74,163],"exploration.":[75,129,181],"As":[76],"incrementally":[78],"build":[79],"topology":[81],"in":[82,154,161,187],"using":[84],"YOLO11-based":[85],"instance":[86],"segmentation":[87],"model,":[88],"agent":[90],"can":[91],"transition":[92],"between":[93,117],"floors":[94],"through":[95],"finite":[97],"state":[98],"machine.":[99],"Additionally,":[100],"implement":[102],"attention-based":[104],"policy":[107,148],"that":[108,143,167],"utilizes":[109],"attention":[111],"mechanism":[112],"capture":[114],"spatial":[115],"dependencies":[116],"different":[118],"regions,":[119],"thereby":[120],"determining":[121],"next":[123],"global":[124],"goal":[125],"more":[127],"efficient":[128],"Extensive":[130],"comparison":[131],"ablation":[133],"studies":[134],"conducted":[135],"HM3D":[138],"MP3D":[140],"datasets":[141],"demonstrate":[142],"our":[144,168,185],"significantly":[149],"outperforms":[150],"all":[151],"baseline":[152],"terms":[155],"efficiency.":[158],"Furthermore,":[159],"experiments":[160],"several":[162],"environments":[165],"indicate":[166],"framework":[169],"is":[170],"compatible":[171],"with":[172,191],"various":[173],"facilitating":[177],"effective":[178],"Finally,":[182],"validate":[184],"method":[186],"real":[189],"world":[190],"quadruped":[193],"robot,":[194],"highlighting":[195],"its":[196],"strong":[197],"generalization":[198],"capabilities.":[199]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}