{"id":"https://openalex.org/W4403446303","doi":"https://doi.org/10.1109/lra.2024.3482190","title":"BEVNav: Robot Autonomous Navigation via Spatial-Temporal Contrastive Learning in Bird's-Eye View","display_name":"BEVNav: Robot Autonomous Navigation via Spatial-Temporal Contrastive Learning in Bird's-Eye View","publication_year":2024,"publication_date":"2024-10-16","ids":{"openalex":"https://openalex.org/W4403446303","doi":"https://doi.org/10.1109/lra.2024.3482190"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3482190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3482190","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/A5084204786","display_name":"Jiahao Jiang","orcid":"https://orcid.org/0000-0003-3661-5560"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Jiang","raw_affiliation_strings":["School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-3661-5560","affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042782010","display_name":"Yuxiang Yang","orcid":"https://orcid.org/0000-0001-8613-7822"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxiang Yang","raw_affiliation_strings":["School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8613-7822","affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102553881","display_name":"Yingqi Deng","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingqi Deng","raw_affiliation_strings":["School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109497003","display_name":"Chenlong Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenlong Ma","raw_affiliation_strings":["School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-3916-851X","affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100345321","display_name":"Jing Zhang","orcid":"https://orcid.org/0000-0001-6595-7661"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jing Zhang","raw_affiliation_strings":["School of Computer Science, The University of Sydney, Camperdown, NSW, Australia","School of Computer Science, The University of Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0001-6595-7661","affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Sydney, Camperdown, NSW, Australia","institution_ids":["https://openalex.org/I129604602"]},{"raw_affiliation_string":"School of Computer Science, The University of Sydney, NSW, Australia","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5311,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.84338156,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"9","issue":"12","first_page":"10796","last_page":"10802"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9455999732017517,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9455999732017517,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9125000238418579,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.904699981212616,"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":0.5949020385742188},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5481266975402832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5388355851173401},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5119377374649048},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3501889407634735},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.32230162620544434}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5949020385742188},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5481266975402832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5388355851173401},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5119377374649048},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3501889407634735},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.32230162620544434}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3482190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3482190","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/G10963990","display_name":null,"funder_award_id":"62376080","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2167340365","https://openalex.org/W2168359464","https://openalex.org/W2211722331","https://openalex.org/W2560609797","https://openalex.org/W2968296999","https://openalex.org/W3035198432","https://openalex.org/W3045974612","https://openalex.org/W3132473140","https://openalex.org/W3171007011","https://openalex.org/W3174849255","https://openalex.org/W3176880374","https://openalex.org/W3196603038","https://openalex.org/W3207187156","https://openalex.org/W4220817121","https://openalex.org/W4252279978","https://openalex.org/W4312396969","https://openalex.org/W4312541592","https://openalex.org/W4312862363","https://openalex.org/W4312894406","https://openalex.org/W4313644253","https://openalex.org/W4362014203","https://openalex.org/W4383066393","https://openalex.org/W4384557967","https://openalex.org/W4386882931","https://openalex.org/W4389666793","https://openalex.org/W4390874160","https://openalex.org/W6631190155","https://openalex.org/W6638018090","https://openalex.org/W6692846177","https://openalex.org/W6747473740","https://openalex.org/W6773029903","https://openalex.org/W6795984798","https://openalex.org/W6842751340","https://openalex.org/W6843759960","https://openalex.org/W6849204483","https://openalex.org/W6853388095","https://openalex.org/W6856249897"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Goal-driven":[0],"mobile":[1],"robot":[2],"navigation":[3,34,123],"in":[4,23,111,130],"map-less":[5],"environments":[6,131],"requires":[7],"effective":[8],"state":[9],"representations":[10,46],"for":[11,26],"reliable":[12],"decision-making.":[13],"Inspired":[14],"by":[15],"the":[16,82,94,112],"favorable":[17],"properties":[18],"of":[19],"Bird's-Eye":[20],"View":[21],"(BEV)":[22],"point":[24,71],"clouds":[25],"visual":[27],"perception,":[28],"this":[29,107],"paper":[30],"introduces":[31],"a":[32,54,70,121],"novel":[33],"approach":[35,59],"named":[36],"BEVNav.":[37],"It":[38],"employs":[39],"deep":[40],"reinforcement":[41,115],"learning":[42,58,110,116],"to":[43,60,89,101],"learn":[44,61],"BEV":[45,62],"and":[47,99],"enhance":[48],"decision-making":[49],"reliability.":[50],"First,":[51],"we":[52,80],"propose":[53],"self-supervised":[55],"spatial-temporal":[56,108],"contrastive":[57,109],"representations.":[63],"Spatially,":[64],"two":[65],"randomly":[66],"augmented":[67],"views":[68],"from":[69],"cloud":[72],"predict":[73,90],"each":[74],"other,":[75],"enhancing":[76],"spatial":[77],"features.":[78],"Temporally,":[79],"combine":[81],"current":[83],"observation":[84,97],"with":[85,132],"consecutive":[86],"frames'":[87],"actions":[88,100],"future":[91],"features,":[92],"establishing":[93],"relationship":[95],"between":[96],"transitions":[98],"capture":[102],"temporal":[103],"cues.":[104],"Then,":[105],"incorporating":[106],"Soft":[113],"Actor-Critic":[114],"framework,":[117],"our":[118],"BEVNav":[119],"offers":[120],"superior":[122],"policy.":[124],"Extensive":[125],"experiments":[126],"demonstrate":[127],"BEVNav's":[128],"robustness":[129],"dense":[133],"pedestrians,":[134],"outperforming":[135],"state-of-the-art":[136],"methods":[137],"across":[138],"multiple":[139],"benchmarks.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
