{"id":"https://openalex.org/W4416748622","doi":"https://doi.org/10.1109/iros60139.2025.11247084","title":"NaviDiffuser: Tackling Multi-Objective Robot Navigation by Weight Range Guided Diffusion Model","display_name":"NaviDiffuser: Tackling Multi-Objective Robot Navigation by Weight Range Guided Diffusion Model","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748622","doi":"https://doi.org/10.1109/iros60139.2025.11247084"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247084","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/A5100650080","display_name":"Xuyang Zhang","orcid":"https://orcid.org/0000-0003-2165-2588"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuyang Zhang","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101380641","display_name":"Ziyang Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyang Feng","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084849750","display_name":"Quecheng Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quecheng Qiu","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068172501","display_name":"Jie Peng","orcid":"https://orcid.org/0000-0002-2874-4744"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Peng","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100358577","display_name":"Haoyu Li","orcid":"https://orcid.org/0000-0003-2081-1313"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Li","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061104105","display_name":"Jianmin Ji","orcid":"https://orcid.org/0000-0002-1515-0402"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianmin Ji","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100650080"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20544913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"754","last_page":"761"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.21279999613761902,"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":0.21279999613761902,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.17949999868869781,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.10620000213384628,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/robot","display_name":"Robot","score":0.7038000226020813},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5224999785423279},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.46619999408721924},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40529999136924744},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.38749998807907104},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.37770000100135803}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7038000226020813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5902000069618225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5331000089645386},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5224999785423279},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.46619999408721924},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40529999136924744},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.38749998807907104},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.36800000071525574},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.3564999997615814},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3490000069141388},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3127000033855438},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31119999289512634},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.310699999332428},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3003000020980835},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2614000141620636}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247084","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1037659875","https://openalex.org/W1969483458","https://openalex.org/W1988820048","https://openalex.org/W2062573767","https://openalex.org/W2073338782","https://openalex.org/W2117211893","https://openalex.org/W2128990851","https://openalex.org/W2142943472","https://openalex.org/W2151557230","https://openalex.org/W2217815767","https://openalex.org/W2897555545","https://openalex.org/W2955399703","https://openalex.org/W2963428623","https://openalex.org/W2971384749","https://openalex.org/W3130520215","https://openalex.org/W3196525377","https://openalex.org/W4220840735","https://openalex.org/W4311316684","https://openalex.org/W4380608974","https://openalex.org/W4383108450","https://openalex.org/W4385403811","https://openalex.org/W4401417422"],"related_works":[],"abstract_inverted_index":{"The":[0],"data-driven":[1,26,93,109],"paradigm":[2],"has":[3],"shown":[4],"great":[5],"potential":[6],"in":[7,95,131,167],"solving":[8],"many":[9],"decision-making":[10],"tasks.":[11],"In":[12,177],"the":[13,69,90,106,111,128,133,159],"robot":[14,41,96,115],"navigation":[15,33,42,137,193],"realm,":[16],"it":[17],"also":[18,67,152,190],"sparked":[19],"a":[20,36,122],"new":[21],"trend.":[22],"People":[23],"believe":[24],"powerful":[25,108],"methods":[27,94],"can":[28],"learn":[29],"efficient":[30],"and":[31,49,61,138,162,170],"general":[32],"policies":[34],"from":[35,45],"vast":[37],"offline":[38],"dataset.":[39],"However,":[40],"tasks":[43,48],"differ":[44],"common":[46],"planning":[47,79,160],"present":[50],"unique":[51],"challenges.":[52],"It":[53,65,151],"often":[54],"involves":[55],"multi-objective":[56],"optimization":[57],"to":[58,72,83,126,148,157,173,195],"meet":[59],"arbitrary":[60],"ever-changing":[62],"human":[63,139,199],"preferences.":[64,140,200],"should":[66],"overcome":[68],"short-sighted":[70],"problem":[71],"obtain":[73],"globally":[74],"optimal":[75],"performance.":[76],"Furthermore,":[77],"high":[78,186],"frequency":[80],"is":[81],"needed":[82],"address":[84,99],"real-time":[85],"demands.":[86],"These":[87],"factors":[88],"obstruct":[89],"application":[91],"of":[92,105],"navigation.":[97,116],"To":[98],"these":[100,178],"challenges,":[101],"we":[102],"integrate":[103],"one":[104],"most":[107],"methods,":[110],"diffusion":[112,129],"model,":[113],"into":[114],"Our":[117],"proposed":[118],"approach,":[119],"NaviDiffuser,":[120],"utilizes":[121],"novel":[123],"classification":[124],"label":[125],"guide":[127],"model":[130],"capturing":[132],"complex":[134],"connections":[135],"between":[136],"Its":[141],"Transformer":[142],"network":[143],"backbone":[144],"outputs":[145],"action":[146],"sequences":[147],"alleviate":[149],"short-sightedness.":[150],"includes":[153],"special":[154],"distillation":[155],"skills":[156],"boost":[158],"speed":[161],"quality.":[163],"We":[164],"conduct":[165],"experiments":[166],"both":[168],"simulated":[169],"real-world":[171],"scenarios":[172],"evaluate":[174],"our":[175],"approach.":[176],"experiments,":[179],"NaviDiffuser":[180],"not":[181],"only":[182],"demonstrates":[183],"an":[184],"extremely":[185],"arrival":[187],"rate":[188],"but":[189],"adjusts":[191],"its":[192],"policy":[194],"align":[196],"with":[197],"different":[198]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}