{"id":"https://openalex.org/W4416748866","doi":"https://doi.org/10.1109/iros60139.2025.11246760","title":"MAER-Nav: Bidirectional Motion Learning Through Mirror-Augmented Experience Replay for Robot Navigation","display_name":"MAER-Nav: Bidirectional Motion Learning Through Mirror-Augmented Experience Replay for Robot Navigation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748866","doi":"https://doi.org/10.1109/iros60139.2025.11246760"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246760","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/A5113127926","display_name":"Shanze Wang","orcid":"https://orcid.org/0009-0001-4004-1056"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Shanze Wang","raw_affiliation_strings":["Hong Kong Polytechnic University,Department of Aeronautical & Aviation Engineering (AAE) and the Research Centre for Unmanned Autonomous Systems (RCUAS),Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Polytechnic University,Department of Aeronautical & Aviation Engineering (AAE) and the Research Centre for Unmanned Autonomous Systems (RCUAS),Hong Kong,China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108821387","display_name":"Mingao Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingao Tan","raw_affiliation_strings":["Eastern Institute of Technology,Ningbo Key Laboratory of Spatial Intelligence and Digital Derivative, Institute of Digital Twin,Ningbo,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eastern Institute of Technology,Ningbo Key Laboratory of Spatial Intelligence and Digital Derivative, Institute of Digital Twin,Ningbo,China","institution_ids":["https://openalex.org/I4210165339"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003027050","display_name":"Zhibo Yang","orcid":"https://orcid.org/0000-0001-9454-4532"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhibo Yang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045834147","display_name":"Biao Huang","orcid":"https://orcid.org/0000-0001-7915-5993"},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biao Huang","raw_affiliation_strings":["Eastern Institute of Technology,Ningbo Key Laboratory of Spatial Intelligence and Digital Derivative, Institute of Digital Twin,Ningbo,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eastern Institute of Technology,Ningbo Key Laboratory of Spatial Intelligence and Digital Derivative, Institute of Digital Twin,Ningbo,China","institution_ids":["https://openalex.org/I4210165339"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102500550","display_name":"Xiaoyu Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyu Shen","raw_affiliation_strings":["Eastern Institute of Technology,Ningbo Key Laboratory of Spatial Intelligence and Digital Derivative, Institute of Digital Twin,Ningbo,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eastern Institute of Technology,Ningbo Key Laboratory of Spatial Intelligence and Digital Derivative, Institute of Digital Twin,Ningbo,China","institution_ids":["https://openalex.org/I4210165339"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001819715","display_name":"Hailong Huang","orcid":"https://orcid.org/0000-0003-0924-6720"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hailong Huang","raw_affiliation_strings":["Hong Kong Polytechnic University,Department of Aeronautical & Aviation Engineering (AAE) and the Research Centre for Unmanned Autonomous Systems (RCUAS),Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hong Kong Polytechnic University,Department of Aeronautical & Aviation Engineering (AAE) and the Research Centre for Unmanned Autonomous Systems (RCUAS),Hong Kong,China","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100661713","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-0788-1715"},"institutions":[{"id":"https://openalex.org/I4210165339","display_name":"Ningbo Institute of Industrial Technology","ror":"https://ror.org/05nqg3g04","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165339"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Eastern Institute of Technology,Ningbo Key Laboratory of Spatial Intelligence and Digital Derivative, Institute of Digital Twin,Ningbo,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eastern Institute of Technology,Ningbo Key Laboratory of Spatial Intelligence and Digital Derivative, Institute of Digital Twin,Ningbo,China","institution_ids":["https://openalex.org/I4210165339"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5113127926"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":1.9702,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.90629416,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4512","last_page":"4519"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.5702999830245972,"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":0.5702999830245972,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.09239999949932098,"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":0.06780000030994415,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6600000262260437},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5900999903678894},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.550599992275238},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5042999982833862},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48910000920295715},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4661000072956085},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.45170000195503235},{"id":"https://openalex.org/keywords/hindsight-bias","display_name":"Hindsight bias","score":0.44369998574256897}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6643000245094299},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6600000262260437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.593500018119812},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5900999903678894},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.550599992275238},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5042999982833862},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48910000920295715},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4661000072956085},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.45170000195503235},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44830000400543213},{"id":"https://openalex.org/C10347200","wikidata":"https://www.wikidata.org/wiki/Q1960297","display_name":"Hindsight bias","level":2,"score":0.44369998574256897},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42329999804496765},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4092999994754791},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3529999852180481},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.3321000039577484},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3109000027179718},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29649999737739563},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2915000021457672},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28369998931884766},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.257099986076355},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246760","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/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2117211893","https://openalex.org/W2141559645","https://openalex.org/W2152536965","https://openalex.org/W2962887844","https://openalex.org/W3120718667","https://openalex.org/W3127177108","https://openalex.org/W3134972302","https://openalex.org/W3136553706","https://openalex.org/W3158253560","https://openalex.org/W3176880374","https://openalex.org/W3193320876","https://openalex.org/W3194805530","https://openalex.org/W3196525377","https://openalex.org/W4200004515","https://openalex.org/W4283780580","https://openalex.org/W4286375451","https://openalex.org/W4290849813","https://openalex.org/W4362014203","https://openalex.org/W4380992980","https://openalex.org/W4385833986","https://openalex.org/W4401221831","https://openalex.org/W4405022649","https://openalex.org/W4405778929","https://openalex.org/W4407874093","https://openalex.org/W4411111120"],"related_works":[],"abstract_inverted_index":{"Deep":[0],"Reinforcement":[1],"Learning":[2],"(DRL)":[3],"based":[4],"navigation":[5,89,113,140],"methods":[6,108,130,146],"have":[7],"demonstrated":[8],"promising":[9],"results":[10,95],"for":[11,43,52],"mobile":[12],"robots,":[13],"but":[14],"suffer":[15],"from":[16,91],"limited":[17],"action":[18,124],"flexibility":[19],"in":[20,35,96,141],"confined":[21],"spaces.":[22],"Conventional":[23],"DRL":[24,145],"approaches":[25],"predominantly":[26],"learn":[27],"forward-motion":[28],"policies,":[29],"causing":[30],"robots":[31],"to":[32,85],"become":[33],"trapped":[34],"complex":[36],"environments":[37,101],"where":[38,143],"backward":[39,88],"maneuvers":[40],"are":[41],"necessary":[42],"recovery.":[44],"This":[45],"paper":[46],"presents":[47],"MAER-Nav":[48,104],"(Mirror-Augmented":[49],"Experience":[50],"Replay":[51],"Robot":[53],"Navigation),":[54],"a":[55,77],"novel":[56],"framework":[57,116],"that":[58,103],"enables":[59],"bidirectional":[60],"motion":[61],"learning":[62,84],"without":[63],"requiring":[64],"explicit":[65],"failure-driven":[66],"hindsight":[67],"experience":[68,79],"replay":[69,80],"or":[70],"reward":[71],"function":[72],"modifications.":[73],"Our":[74],"approach":[75],"integrates":[76],"mirror-augmented":[78],"mechanism":[81],"with":[82],"curriculum":[83],"generate":[86],"synthetic":[87],"experiences":[90],"successful":[92],"trajectories.":[93],"Experimental":[94],"both":[97],"simulation":[98],"and":[99,131],"real-world":[100],"demonstrate":[102],"significantly":[105],"outperforms":[106],"state-of-the-art":[107],"while":[109],"maintaining":[110],"strong":[111],"forward":[112],"capabilities.":[114],"The":[115],"effectively":[117],"bridges":[118],"the":[119,122,132],"gap":[120],"between":[121],"comprehensive":[123],"space":[125],"utilization":[126],"of":[127,135],"traditional":[128],"planning":[129],"environmental":[133],"adaptability":[134],"learning-based":[136],"approaches,":[137],"enabling":[138],"robust":[139],"scenarios":[142],"conventional":[144],"consistently":[147],"fail.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-16T08:24:45.110214","created_date":"2025-11-28T00:00:00"}