{"id":"https://openalex.org/W4386634158","doi":"https://doi.org/10.1109/tase.2023.3312237","title":"Efficient Hierarchical Reinforcement Learning for Mapless Navigation With Predictive Neighbouring Space Scoring","display_name":"Efficient Hierarchical Reinforcement Learning for Mapless Navigation With Predictive Neighbouring Space Scoring","publication_year":2023,"publication_date":"2023-09-12","ids":{"openalex":"https://openalex.org/W4386634158","doi":"https://doi.org/10.1109/tase.2023.3312237"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3312237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3312237","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orca.cardiff.ac.uk/id/eprint/162242/1/JI%20Z%20-%20Efficient%20hierarchial%20reinforcement%20learning%20....PDF","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103073831","display_name":"Yan Gao","orcid":"https://orcid.org/0009-0002-0094-2148"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yan Gao","raw_affiliation_strings":["School of Engineering, Cardiff University, Cardiff, U.K"],"raw_orcid":"https://orcid.org/0009-0002-0094-2148","affiliations":[{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013863229","display_name":"Jing Wu","orcid":"https://orcid.org/0000-0001-5123-9861"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jing Wu","raw_affiliation_strings":["School of Computer Science and Informatics, Cardiff University, Cardiff, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5123-9861","affiliations":[{"raw_affiliation_string":"School of Computer Science and Informatics, Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063751533","display_name":"Xintong Yang","orcid":"https://orcid.org/0000-0002-7612-614X"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xintong Yang","raw_affiliation_strings":["School of Engineering, Cardiff University, Cardiff, U.K"],"raw_orcid":"https://orcid.org/0000-0002-7612-614X","affiliations":[{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068175770","display_name":"Ze Ji","orcid":"https://orcid.org/0000-0002-8968-9902"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ze Ji","raw_affiliation_strings":["School of Engineering, Cardiff University, Cardiff, U.K"],"raw_orcid":"https://orcid.org/0000-0002-8968-9902","affiliations":[{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103073831"],"corresponding_institution_ids":["https://openalex.org/I79510175"],"apc_list":null,"apc_paid":null,"fwci":15.4523,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.9857075,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"21","issue":"4","first_page":"5457","last_page":"5472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9822999835014343,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.78419029712677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6501209139823914},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6224657893180847},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5850300788879395},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5725755095481873},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5375243425369263},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.48456206917762756}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.78419029712677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6501209139823914},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6224657893180847},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5850300788879395},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5725755095481873},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5375243425369263},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.48456206917762756},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tase.2023.3312237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3312237","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:http://orca.cardiff.ac.uk:162242","is_oa":true,"landing_page_url":null,"pdf_url":"https://orca.cardiff.ac.uk/id/eprint/162242/1/JI%20Z%20-%20Efficient%20hierarchial%20reinforcement%20learning%20....PDF","source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:http://orca-dev.cardiff.ac.uk:162242","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/id/eprint/162242/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:http://orca.cardiff.ac.uk:162242","is_oa":true,"landing_page_url":null,"pdf_url":"https://orca.cardiff.ac.uk/id/eprint/162242/1/JI%20Z%20-%20Efficient%20hierarchial%20reinforcement%20learning%20....PDF","source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.6600000262260437,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G1831439225","display_name":null,"funder_award_id":"202008230171","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G6278889191","display_name":null,"funder_award_id":"IF2223-199","funder_id":"https://openalex.org/F4320320005","funder_display_name":"Royal Academy of Engineering"}],"funders":[{"id":"https://openalex.org/F4320320005","display_name":"Royal Academy of Engineering","ror":"https://ror.org/0526snb40"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386634158.pdf","grobid_xml":"https://content.openalex.org/works/W4386634158.grobid-xml"},"referenced_works_count":68,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1901129140","https://openalex.org/W2129711966","https://openalex.org/W2145339207","https://openalex.org/W2146881125","https://openalex.org/W2515498963","https://openalex.org/W2746553466","https://openalex.org/W2765123421","https://openalex.org/W2796447411","https://openalex.org/W2811111819","https://openalex.org/W2894417726","https://openalex.org/W2912681837","https://openalex.org/W2915903202","https://openalex.org/W2918241733","https://openalex.org/W2920362155","https://openalex.org/W2927281831","https://openalex.org/W2942307437","https://openalex.org/W2949604932","https://openalex.org/W2953127211","https://openalex.org/W2962769637","https://openalex.org/W2962887844","https://openalex.org/W2963428623","https://openalex.org/W2964227312","https://openalex.org/W2990118443","https://openalex.org/W2997876358","https://openalex.org/W3004691725","https://openalex.org/W3045396729","https://openalex.org/W3048293652","https://openalex.org/W3049043369","https://openalex.org/W3089695338","https://openalex.org/W3095530566","https://openalex.org/W3129946480","https://openalex.org/W3134939669","https://openalex.org/W3154227779","https://openalex.org/W3163651346","https://openalex.org/W3190132124","https://openalex.org/W3205322933","https://openalex.org/W4200523064","https://openalex.org/W4206513913","https://openalex.org/W4287812714","https://openalex.org/W4287998029","https://openalex.org/W4288109092","https://openalex.org/W4288289109","https://openalex.org/W4292387243","https://openalex.org/W6616173779","https://openalex.org/W6684921986","https://openalex.org/W6712227361","https://openalex.org/W6734215269","https://openalex.org/W6740801417","https://openalex.org/W6747473740","https://openalex.org/W6748839928","https://openalex.org/W6750185400","https://openalex.org/W6752089545","https://openalex.org/W6752983716","https://openalex.org/W6759690661","https://openalex.org/W6759871227","https://openalex.org/W6760405395","https://openalex.org/W6764173040","https://openalex.org/W6764724164","https://openalex.org/W6768220214","https://openalex.org/W6769035977","https://openalex.org/W6770887232","https://openalex.org/W6772111244","https://openalex.org/W6773029903","https://openalex.org/W6773937831","https://openalex.org/W6776412176","https://openalex.org/W6779366341","https://openalex.org/W6780631166"],"related_works":["https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2138720691","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W20361778","https://openalex.org/W2024136090","https://openalex.org/W2768698792"],"abstract_inverted_index":{"Solving":[0],"reinforcement":[1,20,311],"learning":[2,21],"(RL)-based":[3],"mapless":[4,39,228,313,341],"navigation":[5,40,51,229,342,347,357,520],"tasks":[6,271],"is":[7,34,44,74,166,234,251,316,465,471,504],"challenging":[8],"due":[9],"to":[10,26,49,87,220,225,236,238,301,353,366,407,493,505],"their":[11],"sparse":[12],"reward":[13,170],"and":[14,33,47,134,150,213,267,278,287,290,296,364,426,442,513],"long":[15],"decision":[16],"horizon":[17],"nature.":[18],"Hierarchical":[19],"(HRL)":[22],"has":[23],"the":[24,105,116,129,143,169,173,179,184,187,198,206,232,244,247,383,389,392,409,417,433,444,454,478,500,515],"ability":[25,250],"leverage":[27],"knowledge":[28],"at":[29],"different":[30,146,436],"abstract":[31],"levels":[32],"thus":[35],"preferred":[36,76],"in":[37,159,168,254,261,282,303,322,328,449,474,483,488,509],"complex":[38,323,510],"tasks.":[41,161,521],"However,":[42],"it":[43],"computationally":[45],"expensive":[46],"inefficient":[48],"learn":[50],"end-to-end":[52],"from":[53,375,423],"raw":[54,424],"high-dimensional":[55],"sensor":[56],"data,":[57],"such":[58,272,319],"as":[59,273],"Lidar":[60,209,212,427],"or":[61,211],"RGB":[62,215],"cameras.":[63],"The":[64,101,120,385],"use":[65,207,402],"of":[66,112,145,186,208,246,378,435,438,456],"subgoals":[67,370],"based":[68,114],"on":[69,115,310],"a":[70,91,109,124,132,163,239,329,339,351,355,376,398,403],"compact":[71,133],"intermediate":[72],"representation":[73,137],"therefore":[75],"for":[77,108,123,138,172,276,518],"dimension":[78],"reduction.":[79],"This":[80,249],"work":[81],"proposes":[82,338],"an":[83],"efficient":[84],"HRL-based":[85],"framework":[86],"achieve":[88],"this":[89,306,336],"with":[90],"novel":[92,340],"scoring":[93],"method,":[94,458],"named":[95,416],"Predictive":[96,418],"Neighbouring":[97,419],"Space":[98,420],"Scoring":[99,421],"(PNSS).":[100],"PNSS":[102,121,200],"model":[103],"estimates":[104],"explorable":[106],"space":[107],"given":[110],"position":[111,148],"interest":[113],"current":[117],"robot":[118,130,227,233,352,390],"observation.":[119],"values":[122],"few":[125],"candidate":[126,147,379,413,439],"positions":[127,380],"around":[128,382,411],"provide":[131],"informative":[135],"state":[136],"subgoal":[139,180,414,440],"selection.":[140],"We":[141,349],"study":[142,432],"effects":[144,434],"layouts":[149],"demonstrate":[151,195,453],"that":[152,178,196,257,318,468],"our":[153,457,469,502,507],"layout":[154],"design":[155],"facilitates":[156],"higher":[157],"performances":[158,204],"longer-range":[160],"Moreover,":[162],"penalty":[164],"term":[165],"introduced":[167],"function":[171],"high-level":[174],"(HL)":[175],"policy,":[176],"so":[177],"selection":[181],"process":[182,386],"takes":[183],"performance":[185,461],"low-level":[188],"(LL)":[189],"policy":[190],"into":[191,359],"consideration.":[192],"Comprehensive":[193],"evaluations":[194],"using":[197,477],"proposed":[199],"module":[201],"consistently":[202],"improves":[203],"over":[205,462],"only":[210,472],"encoded":[214],"features":[216],"<italic":[217],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[218],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[219],"Practitioners</i>":[221],"\u2014This":[222],"paper":[223,337],"seeks":[224],"improve":[226],"capabilities":[230],"where":[231,294],"expected":[235],"navigate":[237],"goal":[240],"location":[241],"without":[242],"knowing":[243],"map":[245],"environment.":[248],"highly":[252],"demanded":[253],"many":[255],"applications":[256,482],"require":[258],"autonomous":[259],"operations":[260],"unstructured":[262],"environments,":[263,280,485],"including":[264],"both":[265],"indoor":[266],"outdoor":[268],"scenarios,":[269],"involving":[270],"service":[274],"robots":[275],"domestic":[277,475],"public":[279],"logistics":[281],"industrial":[283],"warehouses,":[284],"urban":[285],"search":[286],"rescue":[288],"missions,":[289],"disaster":[291],"relief":[292],"efforts,":[293],"detailed":[295],"accurate":[297],"maps":[298],"are":[299,371],"difficult":[300],"obtain":[302],"advance.":[304],"In":[305,429,499],"work,":[307],"we":[308,401,431],"focus":[309],"learning-based":[312],"navigation.":[314],"It":[315,464],"known":[317],"methods":[320,508],"struggle":[321],"long-range":[324,356],"tasks,":[325],"e.g.":[326],"stuck":[327],"local":[330],"region":[331],"by":[332,345,362],"multiple":[333,360],"objects.":[334],"Therefore,":[335],"method":[343],"inspired":[344],"human":[346],"behaviours.":[348],"enable":[350],"split":[354],"task":[358],"segments,":[361],"selecting":[363,397],"navigating":[365],"short-term":[367,399],"goals.":[368],"These":[369],"selected":[372],"each":[373,412],"time":[374],"number":[377],"located":[381],"robot.":[384],"stops":[387],"when":[388],"reaches":[391],"final":[393],"target":[394],"location.":[395],"When":[396],"goal,":[400],"deep":[404],"neural":[405],"network":[406],"predict":[408],"openness":[410],"position,":[415],"(PNSS),":[422],"images":[425],"scans.":[428],"addition,":[430],"arrangements":[437],"locations":[441],"select":[443],"optimal":[445],"one.":[446],"Experiments":[447],"conducted":[448],"photo-realistic":[450],"simulation":[451],"environments":[452,476,512],"effectiveness":[455],"showcasing":[459],"superior":[460],"baselines.":[463],"worth":[466],"noting":[467],"agent":[470],"trained":[473],"iGibson":[479],"simulator.":[480],"For":[481],"other":[484],"additional":[486],"training":[487],"more":[489],"representative":[490],"settings":[491],"specific":[492],"corresponding":[494],"scenarios":[495],"will":[496],"be":[497],"necessary.":[498],"future,":[501],"intention":[503],"validate":[506],"real-world":[511],"narrow":[514],"simulation-to-reality":[516],"gap":[517],"long-horizon":[519]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
