{"id":"https://openalex.org/W2992263225","doi":"https://doi.org/10.1109/kse.2019.8919366","title":"Reinforcement Learning Based Navigation with Semantic Knowledge of Indoor Environments","display_name":"Reinforcement Learning Based Navigation with Semantic Knowledge of Indoor Environments","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2992263225","doi":"https://doi.org/10.1109/kse.2019.8919366","mag":"2992263225"},"language":"en","primary_location":{"id":"doi:10.1109/kse.2019.8919366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/kse.2019.8919366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 11th International Conference on Knowledge and Systems Engineering (KSE)","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/A5076195477","display_name":"Tai-Long Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I177233841","display_name":"Vietnam National University, Hanoi","ror":"https://ror.org/02jmfj006","country_code":"VN","type":"education","lineage":["https://openalex.org/I177233841"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Tai-Long Nguyen","raw_affiliation_strings":["HMI Lab, UET, Vietnam National University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"HMI Lab, UET, Vietnam National University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I177233841"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068818841","display_name":"Do-Van Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I177233841","display_name":"Vietnam National University, Hanoi","ror":"https://ror.org/02jmfj006","country_code":"VN","type":"education","lineage":["https://openalex.org/I177233841"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Do-Van Nguyen","raw_affiliation_strings":["HMI Lab, UET, Vietnam National University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"HMI Lab, UET, Vietnam National University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I177233841"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113788877","display_name":"Thanh\u2010Ha Le","orcid":null},"institutions":[{"id":"https://openalex.org/I177233841","display_name":"Vietnam National University, Hanoi","ror":"https://ror.org/02jmfj006","country_code":"VN","type":"education","lineage":["https://openalex.org/I177233841"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Thanh-Ha Le","raw_affiliation_strings":["HMI Lab, UET, Vietnam National University, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"HMI Lab, UET, Vietnam National University, Hanoi, Vietnam","institution_ids":["https://openalex.org/I177233841"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5076195477"],"corresponding_institution_ids":["https://openalex.org/I177233841"],"apc_list":null,"apc_paid":null,"fwci":1.5183,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.86689349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9959999918937683,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.836815595626831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8181150555610657},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6856504082679749},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.662936270236969},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6520053744316101},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5351541638374329},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5138645172119141},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5071315765380859},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4532736837863922},{"id":"https://openalex.org/keywords/intelligent-agent","display_name":"Intelligent agent","score":0.4466891586780548},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.44085007905960083},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4286937117576599},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4164241552352905},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3527420163154602},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2849714756011963},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.07749691605567932}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.836815595626831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8181150555610657},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6856504082679749},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.662936270236969},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6520053744316101},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5351541638374329},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5138645172119141},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5071315765380859},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4532736837863922},{"id":"https://openalex.org/C74072328","wikidata":"https://www.wikidata.org/wiki/Q1142726","display_name":"Intelligent agent","level":2,"score":0.4466891586780548},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.44085007905960083},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4286937117576599},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4164241552352905},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3527420163154602},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2849714756011963},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.07749691605567932},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/kse.2019.8919366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/kse.2019.8919366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 11th International Conference on Knowledge and Systems Engineering (KSE)","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":44,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1515851193","https://openalex.org/W2077069816","https://openalex.org/W2108598243","https://openalex.org/W2155968351","https://openalex.org/W2194775991","https://openalex.org/W2277195237","https://openalex.org/W2493916176","https://openalex.org/W2519887557","https://openalex.org/W2565902248","https://openalex.org/W2567015638","https://openalex.org/W2581887665","https://openalex.org/W2620290674","https://openalex.org/W2732319713","https://openalex.org/W2746553466","https://openalex.org/W2776202271","https://openalex.org/W2884565639","https://openalex.org/W2953326374","https://openalex.org/W2962884155","https://openalex.org/W2962887844","https://openalex.org/W2962957005","https://openalex.org/W2963037989","https://openalex.org/W2963846044","https://openalex.org/W2964015378","https://openalex.org/W2964043796","https://openalex.org/W2967853831","https://openalex.org/W2998704965","https://openalex.org/W4285719527","https://openalex.org/W4293566037","https://openalex.org/W4297795161","https://openalex.org/W6627932998","https://openalex.org/W6680532216","https://openalex.org/W6692846177","https://openalex.org/W6694395031","https://openalex.org/W6726873649","https://openalex.org/W6731094094","https://openalex.org/W6731334075","https://openalex.org/W6732335829","https://openalex.org/W6738165965","https://openalex.org/W6740402285","https://openalex.org/W6747106673","https://openalex.org/W6751569509","https://openalex.org/W6753516098","https://openalex.org/W6754725917"],"related_works":["https://openalex.org/W2930863966","https://openalex.org/W3134526803","https://openalex.org/W2126211886","https://openalex.org/W3153786280","https://openalex.org/W3127551068","https://openalex.org/W2643884694","https://openalex.org/W2165180011","https://openalex.org/W4220829754","https://openalex.org/W3165944253","https://openalex.org/W2351343564"],"abstract_inverted_index":{"Recent":[0],"years":[1],"have":[2],"been":[3],"witnessing":[4],"a":[5,88,128],"huge":[6],"step":[7],"of":[8],"artificial":[9],"intelligence":[10],"towards":[11],"being":[12],"applied":[13],"in":[14,22,54,75],"autonomous":[15],"robots.":[16],"To":[17,80],"build":[18],"intelligent":[19],"robots":[20],"navigating":[21],"indoor":[23],"environment,":[24],"many":[25],"research":[26],"focus":[27],"on":[28,100],"deep":[29],"reinforcement":[30],"learning":[31,112],"which":[32],"help":[33],"robot":[34],"learn":[35],"and":[36,50,57,78,130],"plan":[37],"by":[38],"themselves.":[39],"Different":[40],"network":[41],"architectures":[42],"are":[43],"proposed":[44,108,125],"for":[45],"training":[46],"agents":[47,118],"to":[48,72,122],"navigate":[49],"find":[51],"targeted":[52],"objects":[53],"both":[55],"real":[56],"simulated":[58,101],"environments.":[59],"Despite":[60],"promising":[61],"results,":[62],"one":[63],"key":[64],"challenge":[65],"remaining":[66],"is":[67],"that":[68,104],"the":[69,107,111],"agent":[70],"has":[71,127],"perform":[73],"well":[74],"unseen":[76],"environments":[77,102],"objects.":[79,98],"solve":[81],"this":[82,85],"generalization":[83],"problem,":[84],"work":[86],"proposes":[87],"method":[89,109,126],"using":[90],"prior":[91],"knowledge":[92],"graph":[93],"capturing":[94],"relationships":[95],"between":[96],"target":[97],"Experiments":[99],"show":[103],"not":[105],"only":[106],"enhances":[110],"process":[113],"but":[114],"also":[115],"significantly":[116],"improves":[117],"generalization.":[119],"When":[120],"compared":[121],"similar":[123],"methods,":[124],"competitive":[129],"even":[131],"better":[132],"performance":[133],"while":[134],"bringing":[135],"computational":[136],"advantages.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}