{"id":"https://openalex.org/W4403919989","doi":"https://doi.org/10.1109/ro-man60168.2024.10731470","title":"EnQuery: Ensemble Policies for Diverse Query-Generation in Preference Alignment of Robot Navigation","display_name":"EnQuery: Ensemble Policies for Diverse Query-Generation in Preference Alignment of Robot Navigation","publication_year":2024,"publication_date":"2024-08-26","ids":{"openalex":"https://openalex.org/W4403919989","doi":"https://doi.org/10.1109/ro-man60168.2024.10731470"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man60168.2024.10731470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man60168.2024.10731470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-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/A5069729988","display_name":"Jorge de Heuvel","orcid":"https://orcid.org/0000-0002-4493-6148"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jorge de Heuvel","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab and the Center for Robotics,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab and the Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114148021","display_name":"Florian Seiler","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Seiler","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab and the Center for Robotics,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab and the Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab and the Center for Robotics,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab and the Center for Robotics,Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5069729988"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":1.3983,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.82410354,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"303","last_page":"310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11106","display_name":"Data Management and Algorithms","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9634000062942505,"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/T10215","display_name":"Semantic Web and Ontologies","score":0.9616000056266785,"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/computer-science","display_name":"Computer science","score":0.7468437552452087},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.6672018766403198},{"id":"https://openalex.org/keywords/query-optimization","display_name":"Query optimization","score":0.48938554525375366},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.454206645488739},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41193723678588867},{"id":"https://openalex.org/keywords/information-retrieval","display_name":"Information retrieval","score":0.28382736444473267},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06316381692886353},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.04777225852012634}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7468437552452087},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.6672018766403198},{"id":"https://openalex.org/C157692150","wikidata":"https://www.wikidata.org/wiki/Q2919848","display_name":"Query optimization","level":2,"score":0.48938554525375366},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.454206645488739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41193723678588867},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.28382736444473267},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06316381692886353},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.04777225852012634}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man60168.2024.10731470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man60168.2024.10731470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1975113623","https://openalex.org/W2011301426","https://openalex.org/W2763110165","https://openalex.org/W2980094450","https://openalex.org/W3040490156","https://openalex.org/W3046003400","https://openalex.org/W3116073702","https://openalex.org/W3183048323","https://openalex.org/W3198804470","https://openalex.org/W4298112294","https://openalex.org/W4383108778","https://openalex.org/W4389665573","https://openalex.org/W4389667165","https://openalex.org/W4389667772","https://openalex.org/W4401414269","https://openalex.org/W4401417401","https://openalex.org/W6766375498","https://openalex.org/W6780571964","https://openalex.org/W6799560697","https://openalex.org/W6804601995"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"To":[0],"align":[1],"mobile":[2,124],"robot":[3,125],"navigation":[4,32,38,66,71,92,120],"policies":[5,25,54,93],"with":[6,82,94,112],"user":[7,19,95],"preferences":[8,96],"through":[9,59],"reinforcement":[10],"learning":[11],"from":[12,104],"human":[13],"feedback":[14],"(RLHF),":[15],"reliable":[16],"and":[17],"behavior-diverse":[18],"queries":[20],"are":[21],"required.":[22],"However,":[23],"deterministic":[24],"fail":[26],"to":[27],"generate":[28],"a":[29,36,46,60,64,113,127],"variety":[30],"of":[31,53,78,122],"trajectory":[33,72],"suggestions":[34],"for":[35],"given":[37,65],"task.":[39],"In":[40],"this":[41],"paper,":[42],"we":[43],"introduce":[44],"EnQuery,":[45],"query":[47],"generation":[48],"approach":[49],"using":[50],"an":[51],"ensemble":[52],"that":[55],"achieve":[56],"behavioral":[57],"diversity":[58],"regularization":[61],"term.":[62],"For":[63],"task,":[67],"EnQuery":[68],"produces":[69],"multiple":[70],"suggestions,":[73],"thereby":[74],"optimizing":[75],"the":[76,123],"efficiency":[77],"preference":[79,106],"data":[80],"collection":[81],"fewer":[83],"queries.":[84,107],"Our":[85,130],"methodology":[86],"demonstrates":[87],"superior":[88],"performance":[89],"in":[90,97,126],"aligning":[91],"low-query":[98],"regimes,":[99],"offering":[100],"enhanced":[101],"policy":[102],"convergence":[103],"sparse":[105],"The":[108],"evaluation":[109],"is":[110,132],"complemented":[111],"novel":[114],"explainability":[115],"representation,":[116],"capturing":[117],"full":[118],"scene":[119],"behavior":[121],"single":[128],"plot.":[129],"code":[131],"available":[133],"online":[134],"at":[135],"https://github.com/hrl-bonn/EnQuery.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}