{"id":"https://openalex.org/W4416749284","doi":"https://doi.org/10.1109/iros60139.2025.11246665","title":"Language as Cost: Proactive Hazard Mapping using VLM for Robot Navigation","display_name":"Language as Cost: Proactive Hazard Mapping using VLM for Robot Navigation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749284","doi":"https://doi.org/10.1109/iros60139.2025.11246665"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246665","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/A5101771687","display_name":"Mintaek Oh","orcid":"https://orcid.org/0009-0001-2569-9028"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Mintaek Oh","raw_affiliation_strings":["Seoul National University,Seoul,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Seoul,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100728732","display_name":"Chan Kim","orcid":"https://orcid.org/0000-0003-1642-6789"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chan Kim","raw_affiliation_strings":["Seoul National University,Seoul,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Seoul,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048311228","display_name":"Seung\u2010Woo Seo","orcid":"https://orcid.org/0000-0003-4890-8563"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Woo Seo","raw_affiliation_strings":["Seoul National University,Seoul,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Seoul,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003891259","display_name":"Seung\u2010Woo Kim","orcid":"https://orcid.org/0000-0003-0235-1739"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong-Woo Kim","raw_affiliation_strings":["Seoul National University,Seoul,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University,Seoul,Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21543","last_page":"21550"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8165000081062317,"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":0.8165000081062317,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.041600000113248825,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.03530000150203705,"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/obstacle","display_name":"Obstacle","score":0.8259999752044678},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7060999870300293},{"id":"https://openalex.org/keywords/hazard","display_name":"Hazard","score":0.6535999774932861},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5864999890327454},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5335000157356262},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4805999994277954},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.397599995136261},{"id":"https://openalex.org/keywords/hazard-analysis","display_name":"Hazard analysis","score":0.3944999873638153}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8259999752044678},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7060999870300293},{"id":"https://openalex.org/C49261128","wikidata":"https://www.wikidata.org/wiki/Q1132455","display_name":"Hazard","level":2,"score":0.6535999774932861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6355000138282776},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5864999890327454},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5335000157356262},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4805999994277954},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C206355099","wikidata":"https://www.wikidata.org/wiki/Q3614972","display_name":"Hazard analysis","level":2,"score":0.3944999873638153},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3878999948501587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3345000147819519},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33320000767707825},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.33000001311302185},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.325300008058548},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.3215999901294708},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.30790001153945923},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.30390000343322754},{"id":"https://openalex.org/C22507642","wikidata":"https://www.wikidata.org/wiki/Q1069369","display_name":"Hazardous waste","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2856999933719635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28209999203681946},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26669999957084656},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2630999982357025},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.25929999351501465},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2590000033378601}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246665","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":[{"id":"https://openalex.org/F4320334874","display_name":"Defense Acquisition Program Administration","ror":"https://ror.org/04bjg9m96"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2016085394","https://openalex.org/W2018653658","https://openalex.org/W2069064960","https://openalex.org/W2410617946","https://openalex.org/W2745859992","https://openalex.org/W4210375166","https://openalex.org/W4286541688","https://openalex.org/W4317877684","https://openalex.org/W4383108378","https://openalex.org/W4388943201","https://openalex.org/W4389666000","https://openalex.org/W4389666587","https://openalex.org/W4390874575","https://openalex.org/W4404612908","https://openalex.org/W4405232520","https://openalex.org/W4409348060","https://openalex.org/W4413925930","https://openalex.org/W4413926079","https://openalex.org/W4413926120"],"related_works":[],"abstract_inverted_index":{"Robots":[0],"operating":[1],"in":[2,60,143],"human-centric":[3],"or":[4],"hazardous":[5],"environments":[6,148],"must":[7],"proactively":[8,133],"anticipate":[9,106],"and":[10,65,97,132,145,159,169],"mitigate":[11],"dangers":[12],"beyond":[13],"basic":[14],"obstacle":[15,120],"detection.":[16],"Traditional":[17],"navigation":[18,100,156],"systems":[19,46],"often":[20],"depend":[21],"on":[22],"static":[23],"maps,":[24],"which":[25],"struggle":[26],"to":[27,48,89,105,164],"account":[28],"for":[29,72],"dynamic":[30,56,95,147],"risks,":[31,96],"such":[32],"as":[33],"a":[34,38,43,81,118],"person":[35],"emerging":[36],"from":[37,139],"suddenly":[39],"opening":[40],"door.":[41],"As":[42],"result,":[44],"these":[45],"tend":[47],"be":[49],"reactive":[50,165],"rather":[51],"than":[52],"anticipatory":[53],"when":[54],"handling":[55],"hazards.":[57],"Recent":[58],"advancements":[59],"pre-trained":[61],"large":[62],"language":[63],"models":[64,67],"vision-language":[66],"(VLMs)":[68],"create":[69],"new":[70],"opportunities":[71],"proactive":[73],"hazard":[74,161],"avoidance.":[75],"In":[76],"this":[77,113],"work,":[78],"we":[79],"propose":[80],"zero-shot":[82],"language-as-cost":[83],"mapping":[84],"framework":[85],"that":[86,150],"leverages":[87],"VLMs":[88],"interpret":[90],"visual":[91],"scenes,":[92],"assess":[93],"potential":[94,136],"assign":[98],"risk-aware":[99],"costs":[101],"preemptively,":[102],"enabling":[103],"robots":[104],"hazards":[107,137],"before":[108],"they":[109],"materialize.":[110],"By":[111],"integrating":[112],"language-based":[114],"cost":[115],"map":[116],"with":[117],"geometric":[119],"map,":[121],"the":[122,151],"robot":[123],"not":[124],"only":[125],"identifies":[126],"existing":[127],"obstacles":[128],"but":[129],"also":[130],"anticipates":[131],"plans":[134],"around":[135],"arising":[138],"environmental":[140],"dynamics.":[141],"Experiments":[142],"simulated":[144],"diverse":[146],"demonstrate":[149],"proposed":[152],"method":[153],"significantly":[154],"improves":[155],"success":[157],"rates":[158],"reduces":[160],"encounters,":[162],"compared":[163],"baseline":[166],"planners.":[167],"Code":[168],"supplementary":[170],"materials":[171],"are":[172],"available":[173],"at":[174],"https://github.com/Taekmino/LaC.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
