{"id":"https://openalex.org/W4396598985","doi":"https://doi.org/10.1109/lra.2024.3396059","title":"Learning Hierarchical Graph-Based Policy for Goal-Reaching in Unknown Environments","display_name":"Learning Hierarchical Graph-Based Policy for Goal-Reaching in Unknown Environments","publication_year":2024,"publication_date":"2024-05-02","ids":{"openalex":"https://openalex.org/W4396598985","doi":"https://doi.org/10.1109/lra.2024.3396059"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3396059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396059","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/A5096259493","display_name":"Yuxiang Cui","orcid":"https://orcid.org/0009-0007-7757-2153"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yuxiang Cui","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5096085092","display_name":"Shuhao Ye","orcid":"https://orcid.org/0009-0002-4438-3114"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shuhao Ye","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080268597","display_name":"Xuecheng Xu","orcid":"https://orcid.org/0000-0002-0762-6714"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xuecheng Xu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5096197844","display_name":"Hao Sha","orcid":"https://orcid.org/0000-0003-3199-0732"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hao Sha","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101332360","display_name":"Cheng Wang","orcid":"https://orcid.org/0009-0008-4959-6649"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047857889","display_name":"Longzhong Lin","orcid":"https://orcid.org/0000-0001-6422-559X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Longzhong Lin","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045711704","display_name":"Zhe Liu","orcid":"https://orcid.org/0009-0004-1297-2357"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhe Liu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Zhejiang, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5096259493"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.695,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.7332694,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"9","issue":"6","first_page":"5655","last_page":"5662"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.802299976348877,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.802299976348877,"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/T10430","display_name":"Software Engineering Techniques and Practices","score":0.7757999897003174,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/T10734","display_name":"Information and Cyber Security","score":0.7264999747276306,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/computer-science","display_name":"Computer science","score":0.5423058867454529},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5027170181274414},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2508086562156677}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5423058867454529},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5027170181274414},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2508086562156677}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3396059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3396059","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":[],"awards":[{"id":"https://openalex.org/G4611955052","display_name":null,"funder_award_id":"62373322","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2107667896","https://openalex.org/W2134877736","https://openalex.org/W2169781427","https://openalex.org/W2604216058","https://openalex.org/W2908729504","https://openalex.org/W2910054127","https://openalex.org/W2962907394","https://openalex.org/W2966477753","https://openalex.org/W2990723925","https://openalex.org/W3003718768","https://openalex.org/W3016507688","https://openalex.org/W3034728521","https://openalex.org/W3090437565","https://openalex.org/W3130631955","https://openalex.org/W3133136962","https://openalex.org/W3192660112","https://openalex.org/W3196603038","https://openalex.org/W3199476173","https://openalex.org/W3199994333","https://openalex.org/W3206650971","https://openalex.org/W3207246097","https://openalex.org/W3207906202","https://openalex.org/W3209352332","https://openalex.org/W4210356871","https://openalex.org/W4213266403","https://openalex.org/W4285133330","https://openalex.org/W4327662982","https://openalex.org/W4368232707","https://openalex.org/W4382362889","https://openalex.org/W4383108520","https://openalex.org/W4383109033","https://openalex.org/W4390562463","https://openalex.org/W6725207838","https://openalex.org/W6760725535","https://openalex.org/W6763422710","https://openalex.org/W6801330621","https://openalex.org/W6840312789"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W4395014643","https://openalex.org/W4391913857","https://openalex.org/W2350741829"],"abstract_inverted_index":{"Goal-reaching":[0],"in":[1,10,41,148,157],"unknown":[2],"environments":[3,43],"is":[4],"one":[5],"of":[6,91,103],"the":[7,19,26,55,88,101],"essential":[8],"tasks":[9],"robot":[11],"applications.":[12],"Large-scale":[13],"perception":[14],"and":[15,72,82,94,124,133,137,152],"long-horizon":[16,110],"decision-making":[17,112],"are":[18],"keys":[20],"to":[21],"solving":[22],"this":[23],"task":[24],"as":[25,58],"operation":[27],"scope":[28],"expands":[29],"or":[30,49],"complexity":[31],"rises.":[32],"Existing":[33],"navigation":[34],"methods":[35],"may":[36],"suffer":[37],"from":[38],"degraded":[39],"performance":[40],"complicated":[42],"induced":[44],"by":[45],"scalability-limited":[46],"map":[47,61],"representation":[48,62],"greedy":[50],"decision":[51],"strategy.":[52],"We":[53],"propose":[54],"path-extended":[56,85],"graph":[57,86],"a":[59,68,76,114,125],"compact":[60],"providing":[63],"sufficient":[64],"structural":[65],"information":[66],"within":[67],"reasonable":[69],"receptive":[70],"field":[71],"incorporate":[73],"it":[74],"into":[75],"hierarchical":[77,107],"policy":[78,108,118],"for":[79,97],"higher":[80],"efficiency":[81],"generalizability.":[83],"The":[84,106],"contains":[87],"concise":[89],"topology":[90],"environment":[92],"structure":[93],"frontier":[95,116],"layout":[96],"large-scale":[98],"perception,":[99],"avoiding":[100,149],"impact":[102],"redundant":[104,150],"information.":[105],"solves":[109],"non-myopic":[111],"through":[113],"high-level":[115],"selection":[117],"using":[119],"deep":[120],"reinforcement":[121],"learning":[122],"(DRL)":[123],"low-level":[126],"motion":[127],"controller":[128],"that":[129,141],"handles":[130],"path":[131],"planning":[132],"collision":[134],"avoidance.":[135],"Simulation":[136],"real-world":[138],"experiments":[139],"demonstrate":[140],"our":[142],"method":[143],"outperforms":[144],"other":[145],"competitive":[146],"approaches":[147],"movement":[151],"achieves":[153],"efficient":[154],"goal-reaching,":[155],"especially":[156],"complex":[158],"environments.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
