{"id":"https://openalex.org/W7131084060","doi":"https://doi.org/10.1109/robio66223.2025.11376198","title":"WSLN: An End-to-End IMU-Based Localization Network for Worm-Snake-Inspired Robot","display_name":"WSLN: An End-to-End IMU-Based Localization Network for Worm-Snake-Inspired Robot","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131084060","doi":"https://doi.org/10.1109/robio66223.2025.11376198"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11376198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5126649883","display_name":"Hanzhuo Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hanzhuo Zhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005573426","display_name":"Hongsen Pang","orcid":"https://orcid.org/0009-0001-1565-1186"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongsen Pang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017586544","display_name":"Zhaoyang Deng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaoyang Deng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5072092106","display_name":"Hongbin Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongbin Fang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2193","last_page":"2198"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.36410000920295715,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.36410000920295715,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.048700001090765,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10036","display_name":"Advanced Neural Network Applications","score":0.03959999978542328,"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/robot","display_name":"Robot","score":0.73089998960495},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6353999972343445},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.614799976348877},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5947999954223633},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5852000117301941},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5843999981880188},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4812000095844269},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.4318000078201294}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.73089998960495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6521000266075134},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6353999972343445},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.614799976348877},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5947999954223633},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5852000117301941},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5843999981880188},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4812000095844269},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47749999165534973},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.4318000078201294},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.36169999837875366},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35899999737739563},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.35350000858306885},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35010001063346863},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3328000009059906},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3255999982357025},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3140000104904175},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.30970001220703125},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30480000376701355},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2969000041484833},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2676999866962433},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26489999890327454},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25619998574256897},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2540000081062317},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11376198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6702456972","display_name":null,"funder_award_id":"12572047","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":13,"referenced_works":["https://openalex.org/W2883279767","https://openalex.org/W2903957468","https://openalex.org/W2963423603","https://openalex.org/W2963918968","https://openalex.org/W3008109267","https://openalex.org/W3011412976","https://openalex.org/W4312585488","https://openalex.org/W4312720728","https://openalex.org/W4322505824","https://openalex.org/W4372203528","https://openalex.org/W4389317824","https://openalex.org/W4400770699","https://openalex.org/W4411273483"],"related_works":[],"abstract_inverted_index":{"State":[0],"estimation":[1],"for":[2,47,60,67,75,165,181],"soft":[3,135,166],"robots":[4,167],"remains":[5],"a":[6,27,71,132,170,175],"fundamental":[7],"challenge":[8],"due":[9],"to":[10,40,94,160],"their":[11],"high":[12],"degrees":[13],"of":[14,152],"freedom,":[15],"actuation":[16],"variability,":[17],"and":[18,42,70,88,108,124,178,185],"complex":[19],"continuous":[20],"deformations.":[21],"To":[22,149],"address":[23],"this,":[24],"we":[25],"propose":[26],"lightweight":[28],"end-to-end":[29,162],"inertial":[30,163],"localization":[31,102,164,182],"network":[32],"that":[33],"directly":[34],"maps":[35],"raw":[36],"six-axis":[37],"IMU":[38],"signals":[39],"velocity":[41],"trajectory,":[43],"bypassing":[44],"the":[45,97,122,137,150,158],"need":[46],"explicit":[48],"robot":[49],"state":[50],"modeling":[51],"or":[52,115],"data":[53],"preprocessing.":[54],"The":[55],"architecture":[56],"integrates":[57],"multi-scale":[58],"convolutions":[59],"capturing":[61],"local":[62],"dynamic":[63],"features,":[64],"residual":[65],"encoders":[66],"channel-wise":[68],"fusion,":[69],"Mamba-based":[72],"sequence":[73,95],"module":[74],"long-range":[76],"temporal":[77],"modeling.":[78],"Despite":[79],"its":[80],"compact":[81],"design":[82],"with":[83,92],"only":[84,169],"545.8":[85],"K":[86],"parameters":[87],"linear":[89],"computational":[90],"complexity":[91],"respect":[93],"length,":[96],"proposed":[98],"model":[99,138],"achieves":[100],"competitive":[101],"performance":[103],"on":[104,121,131],"both":[105],"public":[106],"datasets":[107],"real-world":[109],"robotic":[110],"platforms.":[111],"It":[112],"performs":[113],"comparably":[114],"better":[116],"than":[117],"several":[118],"representative":[119],"baselines":[120],"RIDI":[123],"RoNIN":[125],"benchmarks.":[126],"Furthermore,":[127],"during":[128],"physical":[129],"experiments":[130],"snake-worm":[133],"dual-mode":[134],"robot,":[136],"maintains":[139],"trajectory":[140],"prediction":[141],"errors":[142],"below":[143],"0.25":[144],"m":[145],"under":[146],"serpentine":[147],"gait.":[148],"best":[151],"our":[153],"knowledge,":[154],"this":[155],"work":[156],"is":[157],"first":[159],"realize":[161],"using":[168],"single":[171],"low-cost":[172],"IMU,":[173],"providing":[174],"compact,":[176],"robust,":[177],"effective":[179],"solution":[180],"in":[183],"resource-constrained":[184],"model-limited":[186],"scenarios.":[187]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}