{"id":"https://openalex.org/W4408280761","doi":"https://doi.org/10.1109/lra.2025.3549645","title":"pacer: Preference-Conditioned All-Terrain Costmap Generation","display_name":"pacer: Preference-Conditioned All-Terrain Costmap Generation","publication_year":2025,"publication_date":"2025-03-10","ids":{"openalex":"https://openalex.org/W4408280761","doi":"https://doi.org/10.1109/lra.2025.3549645"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3549645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3549645","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/A5114235104","display_name":"Luisa Mao","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luisa Mao","raw_affiliation_strings":["Department of Computer Science, The University of Texas Austin, Austin, TX, USA","Department of Computer Science, The University of Texas, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0009-0007-6608-5616","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Texas Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060981901","display_name":"Garrett Warnell","orcid":"https://orcid.org/0000-0003-3846-8787"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garrett Warnell","raw_affiliation_strings":["Department of Computer Science, The University of Texas Austin, Austin, TX, USA","Department of Computer Science, The University of Texas, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-3846-8787","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Texas Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001594330","display_name":"Peter Stone","orcid":"https://orcid.org/0000-0002-6795-420X"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Stone","raw_affiliation_strings":["Department of Computer Science, The University of Texas Austin, Austin, TX, USA","Department of Computer Science, The University of Texas, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-6795-420X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Texas Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004302220","display_name":"Joydeep Biswas","orcid":"https://orcid.org/0000-0002-1211-1731"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joydeep Biswas","raw_affiliation_strings":["Department of Computer Science, The University of Texas Austin, Austin, TX, USA","Department of Computer Science, The University of Texas, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-1211-1731","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Texas Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5114235104"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":2.388,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84770409,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"10","issue":"5","first_page":"4572","last_page":"4579"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9262999892234802,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9262999892234802,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/terrain","display_name":"Terrain","score":0.5712081789970398},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.5106804966926575},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38144928216934204},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19805917143821716},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17332535982131958},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11040067672729492},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09409701824188232}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5712081789970398},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.5106804966926575},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38144928216934204},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19805917143821716},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17332535982131958},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11040067672729492},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09409701824188232}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3549645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3549645","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":"Climate action","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G209544332","display_name":null,"funder_award_id":"W911NF-23-2-0004","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G3881771821","display_name":null,"funder_award_id":"N00014-18-2243","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5469137442","display_name":null,"funder_award_id":"W911NF-17-2-0181","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2021096542","https://openalex.org/W2117211893","https://openalex.org/W2410617946","https://openalex.org/W2889840352","https://openalex.org/W3090307871","https://openalex.org/W3096411729","https://openalex.org/W3127756416","https://openalex.org/W3132408792","https://openalex.org/W3200223366","https://openalex.org/W3206164009","https://openalex.org/W4285117889","https://openalex.org/W4285304415","https://openalex.org/W4311167248","https://openalex.org/W4312749288","https://openalex.org/W4312752326","https://openalex.org/W4385325374","https://openalex.org/W4385416313","https://openalex.org/W4389610617","https://openalex.org/W4401416954","https://openalex.org/W4401417334","https://openalex.org/W6731764567","https://openalex.org/W6857060602"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W2069184433","https://openalex.org/W3023567978"],"abstract_inverted_index":{"In":[0,67],"autonomous":[1],"robot":[2],"navigation,":[3],"terrain":[4,16,55],"cost":[5,85],"assignment":[6,86],"is":[7,17,42,172],"typically":[8],"performed":[9],"using":[10,20],"a":[11,21,32,73,116,126,138,146,157],"semantics-based":[12,78,194],"paradigm":[13,79],"in":[14],"which":[15],"first":[18],"labeled":[19],"pre-trained":[22],"semantic":[23,62],"classifier":[24,63],"and":[25,37,111,144,163,195],"costs":[26],"are":[27,57],"then":[28],"assigned":[29],"according":[30],"to":[31,45,76,88,119,174,176,188,192],"user-defined":[33],"mapping":[34],"between":[35],"label":[36],"cost.":[38],"While":[39],"this":[40,68,107],"approach":[41,118],"rapidly":[43],"adaptable":[44],"changing":[46],"user":[47,178],"preferences,":[48],"only":[49],"preferences":[50,89,179],"over":[51,91],"the":[52,61,77,100,133,153],"types":[53],"of":[54,132],"that":[56,72,122,150,168],"already":[58],"known":[59],"by":[60],"can":[64],"be":[65],"expressed.":[66],"letter,":[69],"we":[70,109,166],"hypothesize":[71],"machine-learning-based":[74],"alternative":[75],"above":[80],"will":[81],"allow":[82],"for":[83,102],"rapid":[84],"adaptation":[87],"expressed":[90],"<italic":[92,140],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[93,114,141,170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">new</i>":[94],"terrains":[95,190],"at":[96,180],"deployment":[97,181],"time":[98,182],"without":[99],"need":[101],"additional":[103],"training.":[104],"To":[105],"investigate":[106],"hypothesis,":[108],"introduce":[110],"study":[112],"<sc":[113,169],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">pacer</small>,":[115],"novel":[117,189],"costmap":[120,149],"generation":[121],"accepts":[123],"as":[124],"input":[125],"single":[127],"birds-eye":[128],"view":[129],"(BEV)":[130],"image":[131],"surrounding":[134],"area":[135],"along":[136],"with":[137,152],"user-specified":[139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">preference":[142],"context</i>":[143],"generates":[145],"corresponding":[147],"BEV":[148],"aligns":[151],"preference":[154],"context.":[155],"Using":[156],"staged":[158],"training":[159],"procedure":[160],"leveraging":[161],"real":[162],"synthetic":[164],"data,":[165],"find":[167],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">pacer</small>":[171],"able":[173],"adapt":[175],"new":[177],"while":[183],"also":[184],"exhibiting":[185],"better":[186],"generalization":[187],"compared":[191],"both":[193],"representation-learning":[196],"approaches.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}