{"id":"https://openalex.org/W7163048113","doi":"https://doi.org/10.1109/lra.2026.3699251","title":"DST-Planner: Diffusion-Augmented Sequential Topological Planning for Robotic Exploration in Complex Environments","display_name":"DST-Planner: Diffusion-Augmented Sequential Topological Planning for Robotic Exploration in Complex Environments","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7163048113","doi":"https://doi.org/10.1109/lra.2026.3699251"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3699251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3699251","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/A5032474349","display_name":"Yiqing Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiqing Yuan","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0005-9371-0216","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137545613","display_name":"Zhi Li","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Li","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0007-0231-1821","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101025665","display_name":"J-J Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahui Liang","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0005-7883-8596","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101444367","display_name":"Peiming Duan","orcid":"https://orcid.org/0009-0009-7526-6923"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peiming Duan","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0009-7526-6923","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103121613","display_name":"Xiaoxun Zhang","orcid":"https://orcid.org/0009-0006-5670-2249"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoxun Zhang","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0006-5670-2249","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039043222","display_name":"\u90ed\u5409\u9e64","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jihe Guo","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0001-1007-7808","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137514299","display_name":"Hui Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Cheng","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-2579-7004","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.69061032,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"7","first_page":"8801","last_page":"8808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6816999912261963,"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":0.6816999912261963,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.1054999977350235,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.08479999750852585,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41830000281333923},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.3273000121116638},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.32249999046325684},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3116999864578247},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.27959999442100525},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27900001406669617}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5303999781608582},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41830000281333923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37860000133514404},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3273000121116638},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.32249999046325684},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3116999864578247},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.27959999442100525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.26759999990463257},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2639000117778778},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.2533999979496002}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3699251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3699251","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":[{"id":"https://metadata.un.org/sdg/11","score":0.48102888464927673,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G1951972270","display_name":null,"funder_award_id":"U22A2095","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"exploration":[1,94,138],"in":[2,142,154,173],"large-scale":[3],"unstructured":[4],"3D":[5,54,67],"environments":[6,73,145],"presents":[7],"significant":[8],"challenges,":[9,45],"requiring":[10],"efficient":[11],"long-horizon":[12,108],"reasoning":[13,56],"and":[14,25,39,115,136,170,185],"robust":[15,97],"decision-making.":[16],"Traditional":[17],"heuristic-based":[18],"planners":[19],"often":[20],"struggle":[21],"with":[22,57],"local":[23],"minima":[24],"lack":[26],"scalability,":[27],"while":[28],"conventional":[29],"online":[30],"Reinforcement":[31],"Learning":[32],"(RL)":[33],"approaches":[34],"face":[35],"prohibitive":[36],"sample":[37],"inefficiency":[38],"training":[40],"instability.":[41],"To":[42],"overcome":[43],"these":[44],"we":[46,63,101,158],"present":[47],"DST-Planner,":[48],"a":[49,81,103],"novel":[50,82],"framework":[51],"that":[52,111,147],"integrates":[53],"topological":[55,109,116],"offline":[58,125],"diffusion-based":[59],"reinforcement":[60],"learning.":[61],"Specifically,":[62],"leverage":[64],"an":[65,123],"incremental":[66],"skeleton":[68],"graph":[69],"to":[70,86,106,167,180],"abstract":[71],"complex":[72],"into":[74],"lightweight":[75],"connectivity":[76],"representations.":[77],"We":[78],"then":[79],"introduce":[80],"diffusion":[83],"critic":[84],"architecture":[85],"accurately":[87],"capture":[88],"the":[89,120,160,174],"multi-modal":[90],"value":[91,98],"distribution":[92],"of":[93,163],"actions":[95],"for":[96],"estimation.":[99],"Simultaneously,":[100],"design":[102],"sequence-based":[104],"actor":[105],"generate":[107],"plans":[110],"promote":[112],"temporal":[113],"consistency":[114],"continuity.":[117],"By":[118],"optimizing":[119],"policy":[121,166],"via":[122],"advantage-weighted":[124],"RL":[126],"objective,":[127],"our":[128,164],"method":[129],"ensures":[130],"stable":[131],"learning":[132],"from":[133],"fixed":[134],"datasets":[135],"preserves":[137],"diversity.":[139],"Extensive":[140],"experiments":[141],"diverse":[143],"simulation":[144],"demonstrate":[146,159],"DST-Planner":[148],"significantly":[149],"outperforms":[150],"state-of-the-art":[151],"(SOTA)":[152],"baselines":[153],"coverage":[155],"efficiency.":[156],"Notably,":[157],"zero-shot":[161],"transferability":[162],"simulation-trained":[165],"both":[168],"aerial":[169],"ground":[171],"robots":[172],"real":[175],"world,":[176],"confirming":[177],"its":[178],"robustness":[179],"drastically":[181],"different":[182],"robotic":[183],"kinematics":[184],"motion":[186],"constraints":[187],"without":[188],"fine-tuning.":[189]},"counts_by_year":[],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2026-06-02T00:00:00"}
