{"id":"https://openalex.org/W4396817401","doi":"https://doi.org/10.1109/lra.2024.3399589","title":"You Only Plan Once: A Learning-Based One-Stage Planner With Guidance Learning","display_name":"You Only Plan Once: A Learning-Based One-Stage Planner With Guidance Learning","publication_year":2024,"publication_date":"2024-05-10","ids":{"openalex":"https://openalex.org/W4396817401","doi":"https://doi.org/10.1109/lra.2024.3399589"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3399589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3399589","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/A5061171637","display_name":"Junjie Lu","orcid":"https://orcid.org/0000-0002-0993-9765"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Lu","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-0993-9765","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100601224","display_name":"Xuewei Zhang","orcid":"https://orcid.org/0000-0003-4512-1335"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuewei Zhang","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-4512-1335","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077151885","display_name":"Hongming Shen","orcid":"https://orcid.org/0000-0003-0141-1904"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongming Shen","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-0141-1904","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102877638","display_name":"Liwen Xu","orcid":"https://orcid.org/0009-0005-8438-6637"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liwen Xu","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0009-0005-8438-6637","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003234602","display_name":"Bailing Tian","orcid":"https://orcid.org/0000-0003-1004-8350"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bailing Tian","raw_affiliation_strings":["School of Electrical and Information Egineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-1004-8350","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Egineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4374,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.93656108,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"7","first_page":"6083","last_page":"6090"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9980000257492065,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.6869977116584778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6849995255470276},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5991413593292236},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5046325922012329},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.44921261072158813},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4464711546897888},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42481160163879395},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4200296103954315},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41524362564086914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2581232190132141}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6869977116584778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6849995255470276},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5991413593292236},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5046325922012329},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.44921261072158813},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4464711546897888},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42481160163879395},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4200296103954315},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41524362564086914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2581232190132141},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3399589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3399589","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[{"id":"https://openalex.org/G1763732274","display_name":null,"funder_award_id":"62022060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6497725696","display_name":null,"funder_award_id":"62073234","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7303293037","display_name":null,"funder_award_id":"62273249","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G854082252","display_name":null,"funder_award_id":"62203415","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":18,"referenced_works":["https://openalex.org/W2109656638","https://openalex.org/W2482392012","https://openalex.org/W2772356073","https://openalex.org/W2962787639","https://openalex.org/W2962957005","https://openalex.org/W2963037989","https://openalex.org/W3113905734","https://openalex.org/W3202883604","https://openalex.org/W3203180165","https://openalex.org/W4221155307","https://openalex.org/W4224914563","https://openalex.org/W4285289259","https://openalex.org/W4313855813","https://openalex.org/W4322760944","https://openalex.org/W4386920631","https://openalex.org/W6772169159","https://openalex.org/W6782364735","https://openalex.org/W6850143952"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W2114119680"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"propose":[4],"a":[5,34,44,58,80,125],"learning-based":[6],"one-stage":[7],"planner":[8],"for":[9,76,101],"trajectory":[10],"generation":[11],"of":[12,46,60,74,127,137],"quadrotor":[13],"in":[14,79,141],"obstacle-cluttered":[15],"environment":[16],"without":[17],"relying":[18],"on":[19],"explicit":[20],"map.":[21],"We":[22,37,103],"integrate":[23],"perception":[24],"and":[25,30,51,68,72,135,144],"mapping,":[26],"front-end":[27],"path":[28],"searching,":[29],"back-end":[31],"optimization":[32,78],"into":[33],"single":[35,81],"network.":[36],"frame":[38],"the":[39,65,70,99,105,112,116,133,138],"motion":[40,61],"planning":[41],"problem":[42],"as":[43,98],"regression":[45],"spatially":[47],"separated":[48],"polynomial":[49],"trajectories":[50],"associated":[52],"scores.":[53],"Specifically,":[54],"our":[55],"approach":[56],"adopts":[57],"set":[59],"primitives":[62,75],"to":[63,94,131],"cover":[64],"searching":[66],"space,":[67],"predicts":[69],"offsets":[71],"scores":[73],"local":[77],"forward":[82],"propagation.":[83],"A":[84],"novel":[85],"unsupervised":[86],"learning":[87],"strategy,":[88],"termed":[89],"guidance":[90,100],"learning,":[91],"is":[92],"developed":[93],"provide":[95],"numerical":[96],"gradients":[97],"training.":[102],"train":[104],"network":[106],"policy":[107],"with":[108],"privileged":[109],"information":[110],"about":[111],"surroundings":[113],"while":[114],"only":[115],"noisy":[117],"depth":[118],"observations":[119],"are":[120,129],"available":[121],"during":[122],"inference.":[123],"Finally,":[124],"series":[126],"experiments":[128],"conducted":[130],"demonstrate":[132],"effectiveness":[134],"time-efficiency":[136],"proposed":[139],"method":[140],"both":[142],"simulation":[143],"real-world.":[145],"For":[146],"supplementary":[147],"video":[148],"see:":[149],"<uri":[150,160],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[151,161],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://youtu.be/m7u1MYIuIn4</uri>":[152],".":[153,163],"The":[154],"code":[155],"will":[156],"be":[157],"released":[158],"at":[159],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/TJU-Aerial-Robotics/YOPO</uri>":[162]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}
