{"id":"https://openalex.org/W4404238290","doi":"https://doi.org/10.1109/tetci.2024.3488732","title":"NeuronsGym: A Hybrid Framework and Benchmark for Robot Navigation With Sim2Real Policy Learning","display_name":"NeuronsGym: A Hybrid Framework and Benchmark for Robot Navigation With Sim2Real Policy Learning","publication_year":2024,"publication_date":"2024-11-11","ids":{"openalex":"https://openalex.org/W4404238290","doi":"https://doi.org/10.1109/tetci.2024.3488732"},"language":"en","primary_location":{"id":"doi:10.1109/tetci.2024.3488732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tetci.2024.3488732","pdf_url":null,"source":{"id":"https://openalex.org/S4210210251","display_name":"IEEE Transactions on Emerging Topics in Computational Intelligence","issn_l":"2471-285X","issn":["2471-285X"],"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 Emerging Topics in Computational Intelligence","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/A5100327745","display_name":"Haoran Li","orcid":"https://orcid.org/0000-0003-2559-9585"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran Li","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2559-9585","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014614157","display_name":"Guangzheng Hu","orcid":"https://orcid.org/0000-0001-8035-7410"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangzheng Hu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8035-7410","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shasha Liu","orcid":"https://orcid.org/0009-0008-2409-4378"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shasha Liu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-2409-4378","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114119301","display_name":"Mingjun Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingjun Ma","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-0785-3495","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053853035","display_name":"Yaran Chen","orcid":"https://orcid.org/0000-0001-9356-0610"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaran Chen","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9356-0610","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100624298","display_name":"Dongbin Zhao","orcid":"https://orcid.org/0000-0001-8218-9633"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongbin Zhao","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8218-9633","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4869,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.72411256,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"9","issue":"3","first_page":"2491","last_page":"2505"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9800000190734863,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9800000190734863,"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/benchmark","display_name":"Benchmark (surveying)","score":0.7886071801185608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.591188371181488},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5296832323074341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47443142533302307},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.322106271982193},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1246890127658844},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.05124819278717041}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7886071801185608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.591188371181488},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5296832323074341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47443142533302307},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.322106271982193},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1246890127658844},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.05124819278717041}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tetci.2024.3488732","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tetci.2024.3488732","pdf_url":null,"source":{"id":"https://openalex.org/S4210210251","display_name":"IEEE Transactions on Emerging Topics in Computational Intelligence","issn_l":"2471-285X","issn":["2471-285X"],"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 Emerging Topics in Computational Intelligence","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1331717323","display_name":null,"funder_award_id":"62103409","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6219202550","display_name":null,"funder_award_id":"62293545","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G800914696","display_name":null,"funder_award_id":"62136008","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":56,"referenced_works":["https://openalex.org/W1499669280","https://openalex.org/W1571530861","https://openalex.org/W2112036188","https://openalex.org/W2145339207","https://openalex.org/W2167340365","https://openalex.org/W2737347195","https://openalex.org/W2767050701","https://openalex.org/W2801572960","https://openalex.org/W2897498038","https://openalex.org/W2953127211","https://openalex.org/W2962957005","https://openalex.org/W2963871073","https://openalex.org/W2963890729","https://openalex.org/W2966477753","https://openalex.org/W2967681060","https://openalex.org/W2968116426","https://openalex.org/W3003010287","https://openalex.org/W3009928773","https://openalex.org/W3030656010","https://openalex.org/W3034201026","https://openalex.org/W3093922502","https://openalex.org/W3132357684","https://openalex.org/W3134153520","https://openalex.org/W3138508885","https://openalex.org/W3161634385","https://openalex.org/W3175254947","https://openalex.org/W3204698991","https://openalex.org/W3205239453","https://openalex.org/W3206393052","https://openalex.org/W4285102212","https://openalex.org/W4295036148","https://openalex.org/W4312324460","https://openalex.org/W4383502210","https://openalex.org/W4385488528","https://openalex.org/W4394744014","https://openalex.org/W4402351275","https://openalex.org/W4402979627","https://openalex.org/W6746408764","https://openalex.org/W6747106673","https://openalex.org/W6747473740","https://openalex.org/W6753516098","https://openalex.org/W6758824984","https://openalex.org/W6761443123","https://openalex.org/W6764655487","https://openalex.org/W6767084887","https://openalex.org/W6771792390","https://openalex.org/W6771852697","https://openalex.org/W6780167394","https://openalex.org/W6780225908","https://openalex.org/W6782242850","https://openalex.org/W6782766965","https://openalex.org/W6788773875","https://openalex.org/W6803012412","https://openalex.org/W6803347102","https://openalex.org/W6841586102","https://openalex.org/W6846219718"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W4246352526"],"abstract_inverted_index":{"The":[0],"rise":[1],"of":[2,10,50,85,106,165,177],"embodied":[3],"AI":[4],"has":[5],"greatly":[6],"improved":[7],"the":[8,97,104,118,122,144,151,163,175],"possibility":[9],"general":[11,182],"mobile":[12,124,183],"agent":[13,184],"systems.":[14],"At":[15,96],"present,":[16],"many":[17],"evaluation":[18,120],"platforms":[19],"with":[20,81],"rich":[21],"scenes,":[22],"high":[23],"visual":[24],"fidelity,":[25],"and":[26,60,87,149,168,180],"various":[27],"application":[28],"scenarios":[29],"have":[30],"been":[31],"developed.":[32],"In":[33],"this":[34,129,140,166,171],"paper,":[35],"we":[36,109,131],"present":[37],"a":[38,54,61,82,111,133],"hybrid":[39],"framework":[40,76,167],"named":[41],"NeuronsGym":[42],"that":[43,170],"can":[44,88,173],"be":[45,89],"used":[46],"for":[47,57,64,136],"policy":[48],"learning":[49],"robot":[51,107,125],"tasks,":[52],"covering":[53],"simulation":[55],"platform":[56,141,172],"training":[58],"policy,":[59],"physical":[62,79],"system":[63],"studying":[65],"sim2real":[66,147,159],"problems.":[67],"Unlike":[68],"most":[69],"current":[70,123,145],"single-task,":[71],"slow-moving":[72],"robotic":[73,93],"platforms,":[74],"our":[75],"provides":[77],"agile":[78,181],"robots":[80],"wider":[83],"range":[84],"speeds":[86],"employed":[90],"to":[91,102,116],"train":[92],"navigation":[94,137],"policies.":[95],"same":[98],"time,":[99],"in":[100,121],"order":[101],"evaluate":[103],"safety":[105,119],"navigation,":[108],"propose":[110],"safety-weighted":[112],"path":[113],"length":[114],"(SFPL)":[115],"improve":[117],"navigation.":[126],"Based":[127],"on":[128,155],"platform,":[130],"build":[132],"new":[134],"benchmark":[135],"tasks":[138],"under":[139],"by":[142],"comparing":[143],"mainstream":[146],"methods,":[148],"hold":[150],"2022":[152],"IEEE":[153],"Conference":[154],"Games":[156],"(CoG)":[157],"RoboMaster":[158],"challenge.":[160],"We":[161],"release":[162],"codes":[164],"hope":[169],"promote":[174],"development":[176],"more":[178],"flexible":[179],"algorithms.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}