{"id":"https://openalex.org/W4386473118","doi":"https://doi.org/10.1109/tro.2023.3306615","title":"BioSLAM: A Bioinspired Lifelong Memory System for General Place Recognition","display_name":"BioSLAM: A Bioinspired Lifelong Memory System for General Place Recognition","publication_year":2023,"publication_date":"2023-09-06","ids":{"openalex":"https://openalex.org/W4386473118","doi":"https://doi.org/10.1109/tro.2023.3306615"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3306615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3306615","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5074010026","display_name":"Peng Yin","orcid":"https://orcid.org/0000-0001-8398-0988"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peng Yin","raw_affiliation_strings":["Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-8398-0988","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064613859","display_name":"Abulikemu Abuduweili","orcid":"https://orcid.org/0000-0002-3186-1976"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abulikemu Abuduweili","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3186-1976","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009683981","display_name":"Shiqi Zhao","orcid":"https://orcid.org/0000-0001-5989-0771"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shiqi Zhao","raw_affiliation_strings":["Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-5989-0771","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100659458","display_name":"Lingyun Xu","orcid":"https://orcid.org/0000-0002-6173-8610"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lingyun Xu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6173-8610","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040156274","display_name":"Changliu Liu","orcid":"https://orcid.org/0000-0002-3767-5517"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changliu Liu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3767-5517","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8373-4688","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.3599,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.98595249,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"39","issue":"6","first_page":"4855","last_page":"4874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"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":0.9983000159263611,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9922999739646912,"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/forgetting","display_name":"Forgetting","score":0.8337606191635132},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7450936436653137},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6238682270050049},{"id":"https://openalex.org/keywords/lifelong-learning","display_name":"Lifelong learning","score":0.6104650497436523},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5092276334762573},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47474271059036255},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4478800296783447},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4014833867549896}],"concepts":[{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.8337606191635132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7450936436653137},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6238682270050049},{"id":"https://openalex.org/C108771440","wikidata":"https://www.wikidata.org/wiki/Q368475","display_name":"Lifelong learning","level":2,"score":0.6104650497436523},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5092276334762573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47474271059036255},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4478800296783447},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4014833867549896},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3306615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3306615","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4562445626","display_name":null,"funder_award_id":"2144489","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":84,"referenced_works":["https://openalex.org/W1033316025","https://openalex.org/W1612997784","https://openalex.org/W1875235752","https://openalex.org/W1989484209","https://openalex.org/W2003919215","https://openalex.org/W2007347635","https://openalex.org/W2033938800","https://openalex.org/W2086162146","https://openalex.org/W2117228865","https://openalex.org/W2119681303","https://openalex.org/W2123213117","https://openalex.org/W2126783082","https://openalex.org/W2141139095","https://openalex.org/W2144824356","https://openalex.org/W2160947844","https://openalex.org/W2177274842","https://openalex.org/W2284029970","https://openalex.org/W2296073425","https://openalex.org/W2296228853","https://openalex.org/W2361494151","https://openalex.org/W2461937780","https://openalex.org/W2464708700","https://openalex.org/W2473930607","https://openalex.org/W2558027072","https://openalex.org/W2560647685","https://openalex.org/W2736621623","https://openalex.org/W2745859992","https://openalex.org/W2766210453","https://openalex.org/W2785901219","https://openalex.org/W2789510920","https://openalex.org/W2796422723","https://openalex.org/W2891174905","https://openalex.org/W2894094671","https://openalex.org/W2951019013","https://openalex.org/W2962720468","https://openalex.org/W2963072899","https://openalex.org/W2963559848","https://openalex.org/W2963708168","https://openalex.org/W2963733582","https://openalex.org/W2964189064","https://openalex.org/W2970568021","https://openalex.org/W2996514457","https://openalex.org/W2997164612","https://openalex.org/W3003290274","https://openalex.org/W3016507688","https://openalex.org/W3030364939","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3048941751","https://openalex.org/W3093960966","https://openalex.org/W3102617634","https://openalex.org/W3110076758","https://openalex.org/W3124420883","https://openalex.org/W3131660994","https://openalex.org/W3132252078","https://openalex.org/W3163149666","https://openalex.org/W3173424558","https://openalex.org/W3177295391","https://openalex.org/W3199576781","https://openalex.org/W3202756173","https://openalex.org/W3209830230","https://openalex.org/W4206649597","https://openalex.org/W4221144389","https://openalex.org/W4226481925","https://openalex.org/W4233259568","https://openalex.org/W4249866455","https://openalex.org/W4281478494","https://openalex.org/W4281563256","https://openalex.org/W4287116366","https://openalex.org/W4295883599","https://openalex.org/W4300779259","https://openalex.org/W4312481257","https://openalex.org/W4320013936","https://openalex.org/W4323525805","https://openalex.org/W4385486101","https://openalex.org/W6637373629","https://openalex.org/W6675402254","https://openalex.org/W6738602802","https://openalex.org/W6741087337","https://openalex.org/W6741217325","https://openalex.org/W6769516661","https://openalex.org/W6798030606","https://openalex.org/W6801262269","https://openalex.org/W6838823261"],"related_works":["https://openalex.org/W4289718052","https://openalex.org/W2164121020","https://openalex.org/W2145559838","https://openalex.org/W3116498279","https://openalex.org/W4287549553","https://openalex.org/W3183027292","https://openalex.org/W2364105709","https://openalex.org/W2974871044","https://openalex.org/W4310285384","https://openalex.org/W2794885965"],"abstract_inverted_index":{"We":[0,153,196],"present":[1],"BioSLAM,":[2],"a":[3,55,76,94,103,113],"lifelong":[4,235],"(lifelong":[5],"simultaneous":[6],"localization":[7],"and":[8,18,36,111,208],"mapping)":[9],"SLAM":[10,159,236],"framework":[11],"for":[12,23,67,98],"learning":[13,84],"various":[14],"new":[15,46,109,129],"appearances":[16,127],"incrementally":[17,138,201],"maintaining":[19],"accurate":[20],"place":[21,141,151,205,221,241],"recognition":[22,142,206,222,242],"previously":[24,40],"visited":[25,41],"areas.":[26],"Unlike":[27],"humans,":[28,49],"artificial":[29],"neural":[30],"networks":[31],"suffer":[32],"from":[33],"catastrophic":[34],"forgetting":[35],"may":[37],"forget":[38],"the":[39,60,64,82,88,99,121,131,140,146,203,210,225,232],"areas":[42],"when":[43],"trained":[44],"with":[45,125,169,179,187],"arrivals.":[47],"For":[48],"researchers":[50],"discover":[51],"that":[52,198],"there":[53],"exists":[54],"memory":[56,105,115],"replay":[57,79],"mechanism":[58,97],"in":[59,156,218,243],"brain":[61],"to":[62,80,106,116,137,145,238],"keep":[63],"neuron":[65],"active":[66],"previous":[68],"events.":[69],"Inspired":[70],"by":[71,216],"this":[72],"discovery,":[73],"BioSLAM":[74,92,155,199,230],"designs":[75],"gated":[77],"generative":[78,214],"control":[81],"robot's":[83],"behavior":[85],"based":[86],"on":[87],"feedback":[89],"rewards.":[90],"Specifically,":[91],"provides":[93],"novel":[95],"dual-memory":[96],"maintenance":[100],"of:":[101],"1)":[102,163],"dynamic":[104],"efficiently":[107],"learn":[108],"observations;":[110],"2)":[112,172],"static":[114],"balance":[117],"new\u2013old":[118],"knowledge.":[119],"When":[120],"agent":[122],"is":[123,231],"encountered":[124],"different":[126,193],"under":[128,192],"domains,":[130],"complete":[132],"processing":[133],"pipeline":[134],"can":[135,200],"help":[136,239],"update":[139,202],"ability,":[143],"robust":[144],"increasing":[147],"complexity":[148],"of":[149,220,227],"long-term":[150,244],"recognition.":[152],"demonstrate":[154],"three":[157],"incremental":[158,212,240],"scenarios":[160],"as":[161],"follows.":[162],"A":[164,173],"120":[165],"km":[166,176,189],"city-scale":[167],"trajectories":[168,178],"LiDAR-based":[170],"inputs.":[171,181],"multivisited":[174],"4.5":[175],"campus-scale":[177],"LiDAR-vision":[180],"3)":[182],"An":[183],"official":[184],"Oxford":[185],"dataset":[186],"10":[188],"visual":[190],"inputs":[191],"environmental":[194],"conditions.":[195],"show":[197],"agent's":[204],"ability":[207],"outperform":[209],"state-of-the-art":[211],"approach,":[213],"replay,":[215],"24%":[217],"terms":[219],"accuracy.":[223],"To":[224],"best":[226],"our":[228],"knowledge,":[229],"first":[233],"memory-enhanced":[234],"system":[237],"navigation":[245],"tasks.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}
