{"id":"https://openalex.org/W4416749694","doi":"https://doi.org/10.1109/iros60139.2025.11247413","title":"OpenObject-NAV: Open-Vocabulary Object-Oriented Navigation Based on Dynamic Carrier-Relationship Scene Graph","display_name":"OpenObject-NAV: Open-Vocabulary Object-Oriented Navigation Based on Dynamic Carrier-Relationship Scene Graph","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749694","doi":"https://doi.org/10.1109/iros60139.2025.11247413"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247413","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/A5078909812","display_name":"Yujie Tang","orcid":"https://orcid.org/0000-0002-9086-7948"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yujie Tang","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416069","display_name":"Meiling Wang","orcid":"https://orcid.org/0000-0002-9664-944X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiling Wang","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005080478","display_name":"Yinan Deng","orcid":"https://orcid.org/0009-0003-7973-1892"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinan Deng","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040717289","display_name":"Zibo Zheng","orcid":"https://orcid.org/0000-0002-4060-4891"},"institutions":[{"id":"https://openalex.org/I13591777","display_name":"University of Nottingham Ningbo China","ror":"https://ror.org/03y4dt428","country_code":"CN","type":"education","lineage":["https://openalex.org/I13591777","https://openalex.org/I142263535"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zibo Zheng","raw_affiliation_strings":["University of Nottingham Ningbo China,School of Mechanical Engineering,Ningbo,China,315100"],"affiliations":[{"raw_affiliation_string":"University of Nottingham Ningbo China,School of Mechanical Engineering,Ningbo,China,315100","institution_ids":["https://openalex.org/I13591777"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiagui Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiagui Zhong","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047550663","display_name":"Tiancheng Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiancheng Liu","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101485220","display_name":"Chenjie Zhao","orcid":"https://orcid.org/0000-0001-7220-9725"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenjie Zhao","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068949782","display_name":"Yufeng Yue","orcid":"https://orcid.org/0000-0001-6628-7946"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufeng Yue","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5078909812"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36207472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"20182","last_page":"20188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8740000128746033,"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":0.8740000128746033,"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":0.03229999914765358,"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":0.016699999570846558,"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/robot","display_name":"Robot","score":0.6403999924659729},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5713000297546387},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5177000164985657},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.44760000705718994},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4456999897956848},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.40869998931884766},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.38089999556541443},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.35850000381469727}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7383999824523926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6403999924659729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6359000205993652},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5713000297546387},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5177000164985657},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47850000858306885},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.44760000705718994},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4456999897956848},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.40869998931884766},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.38089999556541443},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.35850000381469727},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3562000095844269},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3301999866962433},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3133000135421753},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.2761000096797943},{"id":"https://openalex.org/C2778761605","wikidata":"https://www.wikidata.org/wiki/Q3565782","display_name":"Navigational aid","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.26820001006126404},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.2554999887943268}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247413","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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1531725372","https://openalex.org/W2163178194","https://openalex.org/W2768494120","https://openalex.org/W2953127211","https://openalex.org/W2970641574","https://openalex.org/W3009928773","https://openalex.org/W3201759799","https://openalex.org/W4221163448","https://openalex.org/W4226236972","https://openalex.org/W4283332944","https://openalex.org/W4313180266","https://openalex.org/W4383108296","https://openalex.org/W4385325524","https://openalex.org/W4385416186","https://openalex.org/W4385430678","https://openalex.org/W4386083032","https://openalex.org/W4389428677","https://openalex.org/W4389666005","https://openalex.org/W4389667368","https://openalex.org/W4390204337","https://openalex.org/W4390873847","https://openalex.org/W4391136507","https://openalex.org/W4391743427","https://openalex.org/W4399177289","https://openalex.org/W4400258109","https://openalex.org/W4401042437","https://openalex.org/W4401414715","https://openalex.org/W4401417061","https://openalex.org/W4401691722","https://openalex.org/W4402354022","https://openalex.org/W4402354030","https://openalex.org/W4404612589","https://openalex.org/W4406729448","https://openalex.org/W4413472100"],"related_works":[],"abstract_inverted_index":{"In":[0],"everyday":[1,167],"life,":[2],"frequently":[3,22,87,165],"used":[4,88,166],"objects":[5,89],"like":[6],"cups":[7],"often":[8],"have":[9],"unfixed":[10],"positions":[11],"and":[12,19,50,54,68,90,103,152,198],"multiple":[13],"instances":[14],"within":[15],"the":[16,46,65,70,84,105,113,117,121,132,170,179,181],"same":[17],"category,":[18],"their":[20,91],"carriers":[21],"change":[23],"as":[24,135],"well.":[25],"As":[26],"a":[27,33,39,136,158,195],"result,":[28],"it":[29,95],"becomes":[30],"challenging":[31],"for":[32,164],"robot":[34,47,109,182,197],"to":[35,38,72,111,186],"efficiently":[36,184],"navigate":[37,185],"specific":[40],"instance.":[41],"To":[42,77],"tackle":[43],"this":[44,81],"challenge,":[45],"must":[48],"capture":[49],"update":[51,74],"scene":[52,75],"changes":[53,115],"plans":[55],"continuously.":[56],"However,":[57],"current":[58],"object":[59],"navigation":[60,110,128,133,162],"approaches":[61],"primarily":[62],"focus":[63],"on":[64,120,194],"semantic":[66],"level":[67],"lack":[69],"ability":[71],"dynamically":[73],"representation.":[76],"address":[78],"these":[79],"limitations,":[80],"paper":[82],"captures":[83],"relationships":[85],"between":[86],"static":[92],"carriers.":[93],"Specifically,":[94],"constructs":[96],"an":[97,126],"open-vocabulary":[98],"Carrier-Relationship":[99],"Scene":[100],"Graph":[101],"(CRSG)":[102],"updates":[104],"carrying":[106],"status":[107],"during":[108],"reflect":[112],"dynamic":[114],"of":[116,160],"scene.":[118],"Based":[119],"CRSG,":[122,180],"we":[123,190],"further":[124],"propose":[125],"instance":[127],"strategy":[129],"that":[130,176],"models":[131],"process":[134],"Markov":[137],"Decision":[138],"Process.":[139],"At":[140],"each":[141],"step,":[142],"decisions":[143],"are":[144],"informed":[145],"by":[146,177],"Large":[147],"Language":[148],"Model\u2019s":[149],"commonsense":[150],"knowledge":[151],"visual-language":[153],"feature":[154],"similarity.":[155],"We":[156],"designed":[157],"series":[159],"long-sequence":[161],"tasks":[163],"items":[168],"in":[169],"Habitat":[171],"simulator.":[172],"The":[173,203],"results":[174],"demonstrate":[175],"updating":[178],"can":[183,206],"moved":[187],"targets.":[188],"Additionally,":[189],"deployed":[191],"our":[192],"algorithm":[193],"real":[196],"validated":[199],"its":[200],"practical":[201],"effectiveness.":[202],"project":[204],"page":[205],"be":[207],"found":[208],"here:":[209],"https://OpenObject-Nav.github.io.":[210]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-11-28T00:00:00"}