{"id":"https://openalex.org/W4392719456","doi":"https://doi.org/10.1109/lra.2024.3376148","title":"Learning Self-Supervised Traversability With Navigation Experiences of Mobile Robots: A Risk-Aware Self-Training Approach","display_name":"Learning Self-Supervised Traversability With Navigation Experiences of Mobile Robots: A Risk-Aware Self-Training Approach","publication_year":2024,"publication_date":"2024-03-12","ids":{"openalex":"https://openalex.org/W4392719456","doi":"https://doi.org/10.1109/lra.2024.3376148"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3376148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3376148","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5005874232","display_name":"Ikhyeon Cho","orcid":"https://orcid.org/0000-0002-9947-493X"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Ikhyeon Cho","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084269901","display_name":"Woojin Chung","orcid":"https://orcid.org/0000-0002-5322-6615"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woojin Chung","raw_affiliation_strings":["Department of Mechanical Engineering, Korea University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005874232"],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":1.4957,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.82467342,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"9","issue":"5","first_page":"4122","last_page":"4129"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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":0.9979000091552734,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9932000041007996,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9901999831199646,"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/training","display_name":"Training (meteorology)","score":0.7329044342041016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5741147398948669},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5378367900848389},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5072807669639587},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4326075613498688},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3808448612689972},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.337741494178772},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12329968810081482}],"concepts":[{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.7329044342041016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5741147398948669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5378367900848389},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5072807669639587},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4326075613498688},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3808448612689972},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.337741494178772},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12329968810081482},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3376148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3376148","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1525595943","https://openalex.org/W1986522259","https://openalex.org/W2106401878","https://openalex.org/W2153027856","https://openalex.org/W2600201730","https://openalex.org/W2607968634","https://openalex.org/W2755158994","https://openalex.org/W2809054577","https://openalex.org/W2913921102","https://openalex.org/W2963424321","https://openalex.org/W3000916453","https://openalex.org/W3042609801","https://openalex.org/W3091002423","https://openalex.org/W3096411729","https://openalex.org/W3099726730","https://openalex.org/W3102129812","https://openalex.org/W3129245057","https://openalex.org/W3176880374","https://openalex.org/W3206517480","https://openalex.org/W3211391682","https://openalex.org/W4200195314","https://openalex.org/W4214743545","https://openalex.org/W4285304415","https://openalex.org/W4296914891","https://openalex.org/W4300039011","https://openalex.org/W4312441173","https://openalex.org/W4313639585","https://openalex.org/W4379803630","https://openalex.org/W4384306313","https://openalex.org/W4385430650","https://openalex.org/W6681588610","https://openalex.org/W6755791307"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W2122871747","https://openalex.org/W3046775127","https://openalex.org/W3107602296","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W4364306694","https://openalex.org/W4312192474"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"operating":[2],"in":[3,39,54,147],"outdoor":[4],"environments":[5,155],"face":[6],"the":[7,50,118,142],"challenge":[8],"of":[9,16,85,120,141],"navigating":[10],"various":[11],"terrains":[12,72,89],"with":[13,73],"different":[14],"degrees":[15],"difficulty.":[17],"Therefore,":[18],"traversability":[19,38,65,115],"estimation":[20],"is":[21,52,80,112,145],"crucial":[22],"for":[23,136],"safe":[24],"and":[25,46],"efficient":[26],"robot":[27,51],"navigation.":[28],"Current":[29],"approaches":[30],"utilize":[31],"a":[32,40,63,92,100,104,121],"robot's":[33],"driving":[34],"experience":[35,48],"to":[36,49,70,81,113,156],"learn":[37],"self-supervised":[41,64],"fashion.":[42],"However,":[43],"providing":[44],"sufficient":[45],"diverse":[47],"difficult":[53],"many":[55],"practical":[56],"applications.":[57],"In":[58],"this":[59,96],"paper,":[60],"we":[61,98],"propose":[62],"learning":[66,84],"method":[67,144],"that":[68],"adapts":[69],"challenging":[71],"limited":[74],"prior":[75],"experience.":[76],"One":[77],"key":[78,110],"aspect":[79,111],"enable":[82],"prioritized":[83],"scarce":[86],"yet":[87],"high-risk":[88],"by":[90],"using":[91],"risk-sensitive":[93],"approach.":[94],"To":[95],"end,":[97],"train":[99],"neural":[101],"network":[102],"through":[103],"risk-aware":[105],"instance":[106],"weighting":[107],"scheme.":[108,123],"Another":[109],"leverage":[114],"pseudo-labels":[116],"on":[117],"basis":[119],"self-training":[122,127],"The":[124,139],"proposed":[125,143],"confidence-regularized":[126],"generates":[128],"high-quality":[129],"pseudo-labels,":[130],"thereby":[131],"achieving":[132],"reliable":[133],"data":[134],"augmentation":[135],"unexperienced":[137],"terrains.":[138,159],"effectiveness":[140],"verified":[146],"extensive":[148],"real-world":[149],"experiments,":[150],"ranging":[151],"from":[152],"structured":[153],"urban":[154],"complex":[157],"rugged":[158]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}