{"id":"https://openalex.org/W4413018234","doi":"https://doi.org/10.1109/iv64158.2025.11097814","title":"MIND-Stack: Modular, Interpretable, End-to-End Differentiability for Autonomous Navigation","display_name":"MIND-Stack: Modular, Interpretable, End-to-End Differentiability for Autonomous Navigation","publication_year":2025,"publication_date":"2025-06-22","ids":{"openalex":"https://openalex.org/W4413018234","doi":"https://doi.org/10.1109/iv64158.2025.11097814"},"language":"en","primary_location":{"id":"doi:10.1109/iv64158.2025.11097814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","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/A5093427067","display_name":"Felix Jahncke","orcid":"https://orcid.org/0009-0003-4484-8361"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Jahncke","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012556749","display_name":"Johannes Betz","orcid":"https://orcid.org/0000-0002-5674-4805"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Betz","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University Munich,Professorship of Autonomous Vehicle Systems,Garching,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1179","last_page":"1186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8978000283241272,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8978000283241272,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.8835999965667725,"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/T13382","display_name":"Robotics and Automated Systems","score":0.7685999870300293,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/modular-design","display_name":"Modular design","score":0.7764774560928345},{"id":"https://openalex.org/keywords/stack","display_name":"Stack (abstract data type)","score":0.7076257467269897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6470438838005066},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.6272392868995667},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.5950063467025757},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4755555987358093},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.23463964462280273},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12781795859336853}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7764774560928345},{"id":"https://openalex.org/C9395851","wikidata":"https://www.wikidata.org/wiki/Q177929","display_name":"Stack (abstract data type)","level":2,"score":0.7076257467269897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6470438838005066},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.6272392868995667},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.5950063467025757},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4755555987358093},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.23463964462280273},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12781795859336853},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iv64158.2025.11097814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iv64158.2025.11097814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5099999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320316994","display_name":"Mountain-Plains Consortium","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2041448245","https://openalex.org/W2076527821","https://openalex.org/W2124770562","https://openalex.org/W2588289902","https://openalex.org/W2740508249","https://openalex.org/W2948153973","https://openalex.org/W2951357333","https://openalex.org/W2962879844","https://openalex.org/W2963016445","https://openalex.org/W2963037989","https://openalex.org/W2963086870","https://openalex.org/W2964082383","https://openalex.org/W2968983352","https://openalex.org/W2981207549","https://openalex.org/W2997958396","https://openalex.org/W3034295100","https://openalex.org/W3128395826","https://openalex.org/W3163573497","https://openalex.org/W3167095230","https://openalex.org/W3210065386","https://openalex.org/W4225986494","https://openalex.org/W4285228542","https://openalex.org/W4285241557","https://openalex.org/W4312862130","https://openalex.org/W4321380998","https://openalex.org/W4383108697","https://openalex.org/W4385301013","https://openalex.org/W4385539610","https://openalex.org/W4386075826","https://openalex.org/W4386918877","https://openalex.org/W4388286312","https://openalex.org/W4400810536","https://openalex.org/W6780503301","https://openalex.org/W6801705364","https://openalex.org/W6847215460","https://openalex.org/W6847678589","https://openalex.org/W6851269015"],"related_works":["https://openalex.org/W4285277090","https://openalex.org/W4327738859","https://openalex.org/W2151749779","https://openalex.org/W3179968364","https://openalex.org/W2348722996","https://openalex.org/W2380576232","https://openalex.org/W2334570605","https://openalex.org/W2937054111","https://openalex.org/W2066223521","https://openalex.org/W2013178899"],"abstract_inverted_index":{"Developing":[0],"robust,":[1],"efficient":[2],"navigation":[3,188],"algorithms":[4,84,135],"is":[5],"challenging.":[6],"Rule-based":[7],"methods":[8],"offer":[9],"interpretability":[10],"and":[11,30,47,57,160,168,197],"modularity":[12],"but":[13,27],"struggle":[14],"with":[15,51,156],"learning":[16,26],"from":[17,95,185],"large":[18],"datasets,":[19],"while":[20,129],"end-to-end":[21,58,127],"neural":[22],"networks":[23],"excel":[24],"in":[25,190,199],"lack":[28,87],"transparency":[29],"modularity.":[31],"In":[32],"this":[33],"paper,":[34],"we":[35,178],"present":[36],"MIND-Stack,":[37],"a":[38,44,48,151],"modular":[39],"software":[40],"stack":[41,92],"consisting":[42],"of":[43,89,115,164,182,203],"localization":[45,65,117,167],"network":[46],"Stanley":[49],"Controller":[50],"intermediate":[52],"human":[53],"interpretable":[54],"state":[55,77],"representations":[56],"differentiability.":[59],"Our":[60],"approach":[61],"enables":[62],"the":[63,69,90,113,116,121,148,166,180,186,191,200,204],"upstream":[64],"module":[66,118],"to":[67,93,98,119],"reduce":[68,120],"downstream":[70,122],"control":[71,123],"error,":[72],"extending":[73],"its":[74,126],"role":[75],"beyond":[76],"estimation.":[78],"Unlike":[79],"existing":[80],"research":[81],"on":[82,137,150],"differentiable":[83],"that":[85,111],"either":[86],"modules":[88,184],"autonomous":[91,154,187],"span":[94],"sensor":[96],"input":[97],"actuator":[99],"output":[100],"or":[101],"real-world":[102,152],"implementation,":[103],"MIND-Stack":[104,174],"offers":[105],"both":[106,165],"capabilities.":[107],"We":[108,142],"conduct":[109],"experiments":[110],"demonstrate":[112,161],"ability":[114],"loss":[124],"through":[125],"differentiability":[128],"offering":[130],"better":[131],"performance":[132,198],"than":[133],"state-of-the-art":[134],"based":[136],"traditional":[138],"path":[139],"tracking":[140],"approaches.":[141],"showcase":[143],"sim-to-real":[144],"capabilities":[145],"by":[146],"deploying":[147],"algorithm":[149],"embedded":[153],"platform":[155],"limited":[157],"computation":[158],"power":[159],"simultaneous":[162],"training":[163],"controller":[169],"towards":[170],"one":[171],"goal.":[172],"While":[173],"shows":[175],"good":[176],"results,":[177],"discuss":[179],"incorporation":[181],"additional":[183],"pipeline":[189],"future,":[192],"promising":[193],"even":[194],"greater":[195],"stability":[196],"next":[201],"iterations":[202],"framework.":[205]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
