{"id":"https://openalex.org/W4406321629","doi":"https://doi.org/10.1109/lra.2025.3529324","title":"Multi-View Spatial Context and State Constraints for Object-Goal Navigation","display_name":"Multi-View Spatial Context and State Constraints for Object-Goal Navigation","publication_year":2025,"publication_date":"2025-01-13","ids":{"openalex":"https://openalex.org/W4406321629","doi":"https://doi.org/10.1109/lra.2025.3529324"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3529324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3529324","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/A5066211405","display_name":"Chong Lu","orcid":"https://orcid.org/0009-0007-2635-472X"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chong Lu","raw_affiliation_strings":["National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033808402","display_name":"Meiqin Liu","orcid":"https://orcid.org/0000-0003-0693-6574"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiqin Liu","raw_affiliation_strings":["National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082856222","display_name":"Zhirong Luan","orcid":"https://orcid.org/0000-0001-8260-0584"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhirong Luan","raw_affiliation_strings":["School of Electrical Engineering, Xi'an University of Technology, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100755001","display_name":"Yan He","orcid":"https://orcid.org/0000-0002-6287-1130"},"institutions":[{"id":"https://openalex.org/I4210131919","display_name":"Xi'an University of Technology","ror":"https://ror.org/038avdt50","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131919"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan He","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, China","School of Electrical Engineering, Xi'an University of Technology, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"School of Electrical Engineering, Xi'an University of Technology, Xi'an, China","institution_ids":["https://openalex.org/I4210131919"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077852542","display_name":"Badong Chen","orcid":"https://orcid.org/0000-0003-1710-3818"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Badong Chen","raw_affiliation_strings":["National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5066211405"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.00516739,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"3","first_page":"2207","last_page":"2214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962999820709229,"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":0.9962999820709229,"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":0.9571999907493591,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9217000007629395,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/context","display_name":"Context (archaeology)","score":0.6410109996795654},{"id":"https://openalex.org/keywords/spatial-contextual-awareness","display_name":"Spatial contextual awareness","score":0.6086351871490479},{"id":"https://openalex.org/keywords/goal-orientation","display_name":"Goal orientation","score":0.5762357711791992},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5680800676345825},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5621302723884583},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5617351531982422},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3927043080329895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3073452413082123},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.21959367394447327},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15903237462043762},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.1056341826915741},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.05597957968711853}],"concepts":[{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6410109996795654},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.6086351871490479},{"id":"https://openalex.org/C84653758","wikidata":"https://www.wikidata.org/wiki/Q5575175","display_name":"Goal orientation","level":2,"score":0.5762357711791992},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5680800676345825},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5621302723884583},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5617351531982422},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3927043080329895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3073452413082123},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.21959367394447327},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15903237462043762},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.1056341826915741},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.05597957968711853},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3529324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3529324","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/G3833898155","display_name":null,"funder_award_id":"62088102","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5268817677","display_name":null,"funder_award_id":"U21A20485","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":34,"referenced_works":["https://openalex.org/W755046805","https://openalex.org/W2030021468","https://openalex.org/W2108598243","https://openalex.org/W2123417757","https://openalex.org/W2146881125","https://openalex.org/W2194775991","https://openalex.org/W2255466643","https://openalex.org/W2962732398","https://openalex.org/W2962887844","https://openalex.org/W2963037989","https://openalex.org/W3001075632","https://openalex.org/W3034728521","https://openalex.org/W3096609285","https://openalex.org/W3109001458","https://openalex.org/W3206877181","https://openalex.org/W4210289984","https://openalex.org/W4214643368","https://openalex.org/W4221163448","https://openalex.org/W4299959846","https://openalex.org/W4315488928","https://openalex.org/W4386071636","https://openalex.org/W4386076477","https://openalex.org/W4386083032","https://openalex.org/W4389003377","https://openalex.org/W4401413869","https://openalex.org/W6620707391","https://openalex.org/W6631190155","https://openalex.org/W6677916085","https://openalex.org/W6692846177","https://openalex.org/W6739901393","https://openalex.org/W6747106673","https://openalex.org/W6753516098","https://openalex.org/W6780443396","https://openalex.org/W6790124654"],"related_works":["https://openalex.org/W4402567770","https://openalex.org/W2569624374","https://openalex.org/W2965298293","https://openalex.org/W1607180678","https://openalex.org/W2081877814","https://openalex.org/W1905708401","https://openalex.org/W2745134424","https://openalex.org/W2901222770","https://openalex.org/W1991139010","https://openalex.org/W4366597678"],"abstract_inverted_index":{"Object-goal":[0],"navigation":[1,26,86],"is":[2],"a":[3,13,67,80,93,200],"highly":[4,160],"challenging":[5],"task":[6],"where":[7],"an":[8,43,100,164],"agent":[9,33,57,125,152],"must":[10],"navigate":[11],"to":[12,59,119,122,126],"target":[14],"solely":[15],"based":[16],"on":[17],"visual":[18,47,95,109],"observations.":[19],"Current":[20],"reinforcement":[21],"learning-based":[22],"methods":[23,195],"for":[24,140],"object-goal":[25],"face":[27],"two":[28,91],"major":[29],"challenges:":[30],"first,":[31],"the":[32,56,108,115,124,133,145,151,157,168,182],"lacks":[34],"sufficient":[35],"perception":[36],"of":[37,45,90,132,159,170],"environmental":[38],"context":[39,130],"information,":[40],"resulting":[41],"in":[42,50,66,181,204],"absence":[44],"rich":[46,128],"representations;":[48],"second,":[49],"complex":[51],"environments":[52],"or":[53],"confined":[54],"spaces,":[55],"tends":[58],"stop":[60],"exploring":[61],"novel":[62,81,171],"states,":[63],"becoming":[64],"trapped":[65],"deadlock":[68,154],"from":[69],"which":[70,88,135,166],"it":[71],"cannot":[72],"escape.":[73],"To":[74],"address":[75],"these":[76],"issues,":[77],"we":[78,113,149],"propose":[79],"Multi-View":[82],"Visual":[83],"Transformer":[84],"(MVVT)":[85],"model,":[87],"consists":[89],"components:":[92],"multi-view":[94],"observation":[96,110],"representation":[97,111],"module":[98],"and":[99,173,185,209],"episode":[101],"state":[102],"constraint-based":[103],"policy":[104,142,146],"learning":[105,147],"module.":[106],"In":[107,144],"module,":[112,148],"expand":[114],"input":[116],"image":[117],"perspective":[118],"five":[120],"views":[121],"enable":[123],"learn":[127],"spatial":[129],"relationships":[131],"environment,":[134,184],"provides":[136],"content-rich":[137],"feature":[138],"information":[139],"subsequent":[141],"learning.":[143],"help":[150],"escape":[153],"by":[155,207,212],"constraining":[156],"correlation":[158],"related":[161],"states":[162,172],"within":[163],"episode,":[165],"promotes":[167],"exploration":[169],"achieves":[174],"efficient":[175],"navigation.":[176],"We":[177],"validate":[178],"our":[179,190],"method":[180],"AI2-Thor":[183],"experimental":[186],"results":[187],"show":[188],"that":[189],"approach":[191],"outperforms":[192],"current":[193],"state-of-the-art":[194],"across":[196],"all":[197],"metrics,":[198],"with":[199],"particularly":[201],"notable":[202],"improvement":[203],"success":[205],"rate":[206],"2.66%":[208],"SPL":[210],"metric":[211],"16.5%.":[213]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}