{"id":"https://openalex.org/W4411600103","doi":"https://doi.org/10.1109/tro.2025.3582817","title":"Help Me Through: Imitation Learning Based Active View Planning to Avoid SLAM Tracking Failures","display_name":"Help Me Through: Imitation Learning Based Active View Planning to Avoid SLAM Tracking Failures","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411600103","doi":"https://doi.org/10.1109/tro.2025.3582817"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3582817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3582817","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/A5012725764","display_name":"Kanwal Naveed","orcid":"https://orcid.org/0000-0001-8151-8300"},"institutions":[{"id":"https://openalex.org/I4210143942","display_name":"National University of Technology","ror":"https://ror.org/05e21fw44","country_code":"PK","type":"education","lineage":["https://openalex.org/I4210143942"]},{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":true,"raw_author_name":"Kanwal Naveed","raw_affiliation_strings":["Robotics and Machine Intelligence Lab, School of Electrical Engineering and Computer Science, National University of Sciences and Technology, Islamabad, Pakistan","Robotics &amp; Machine Intelligence (ROMI) Lab, School of Electrical Engineering and Computer Science (SEECS), National University of Sciences and Technology (NUST), Islamabad, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Machine Intelligence Lab, School of Electrical Engineering and Computer Science, National University of Sciences and Technology, Islamabad, Pakistan","institution_ids":["https://openalex.org/I4210143942"]},{"raw_affiliation_string":"Robotics &amp; Machine Intelligence (ROMI) Lab, School of Electrical Engineering and Computer Science (SEECS), National University of Sciences and Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076559678","display_name":"Wajahat Hussain","orcid":"https://orcid.org/0000-0002-2899-7493"},"institutions":[{"id":"https://openalex.org/I4210143942","display_name":"National University of Technology","ror":"https://ror.org/05e21fw44","country_code":"PK","type":"education","lineage":["https://openalex.org/I4210143942"]},{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Wajahat Hussain","raw_affiliation_strings":["Robotics and Machine Intelligence Lab, School of Electrical Engineering and Computer Science, National University of Sciences and Technology, Islamabad, Pakistan","Robotics &amp; Machine Intelligence (ROMI) Lab, School of Electrical Engineering and Computer Science (SEECS), National University of Sciences and Technology (NUST), Islamabad, Pakistan"],"raw_orcid":"https://orcid.org/0000-0002-2899-7493","affiliations":[{"raw_affiliation_string":"Robotics and Machine Intelligence Lab, School of Electrical Engineering and Computer Science, National University of Sciences and Technology, Islamabad, Pakistan","institution_ids":["https://openalex.org/I4210143942"]},{"raw_affiliation_string":"Robotics &amp; Machine Intelligence (ROMI) Lab, School of Electrical Engineering and Computer Science (SEECS), National University of Sciences and Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023802518","display_name":"Irfan Hussain","orcid":"https://orcid.org/0000-0003-2759-0306"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Irfan Hussain","raw_affiliation_strings":["Khalifa University Center for Autonomous Robotic Systems, Khalifa University, Abu Dhabi, UAE"],"raw_orcid":"https://orcid.org/0000-0003-2759-0306","affiliations":[{"raw_affiliation_string":"Khalifa University Center for Autonomous Robotic Systems, Khalifa University, Abu Dhabi, UAE","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100654317","display_name":"Donghwan Lee","orcid":"https://orcid.org/0000-0002-4962-8478"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghwan Lee","raw_affiliation_strings":["Reinforcement Learning Research Lab, School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","Reinforcement Learning Research Lab, School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-4962-8478","affiliations":[{"raw_affiliation_string":"Reinforcement Learning Research Lab, School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Reinforcement Learning Research Lab, School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065537287","display_name":"Muhammad Latif Anjum","orcid":"https://orcid.org/0000-0002-3525-1956"},"institutions":[{"id":"https://openalex.org/I4210143942","display_name":"National University of Technology","ror":"https://ror.org/05e21fw44","country_code":"PK","type":"education","lineage":["https://openalex.org/I4210143942"]},{"id":"https://openalex.org/I929597975","display_name":"National University of Sciences and Technology","ror":"https://ror.org/03w2j5y17","country_code":"PK","type":"education","lineage":["https://openalex.org/I929597975"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Muhammad Latif Anjum","raw_affiliation_strings":["Robotics and Machine Intelligence Lab, School of Electrical Engineering and Computer Science, National University of Sciences and Technology, Islamabad, Pakistan","Robotics &amp; Machine Intelligence (ROMI) Lab, School of Electrical Engineering and Computer Science (SEECS), National University of Sciences and Technology (NUST), Islamabad, Pakistan"],"raw_orcid":"https://orcid.org/0000-0002-3525-1956","affiliations":[{"raw_affiliation_string":"Robotics and Machine Intelligence Lab, School of Electrical Engineering and Computer Science, National University of Sciences and Technology, Islamabad, Pakistan","institution_ids":["https://openalex.org/I4210143942"]},{"raw_affiliation_string":"Robotics &amp; Machine Intelligence (ROMI) Lab, School of Electrical Engineering and Computer Science (SEECS), National University of Sciences and Technology (NUST), Islamabad, Pakistan","institution_ids":["https://openalex.org/I929597975"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5012725764"],"corresponding_institution_ids":["https://openalex.org/I4210143942","https://openalex.org/I929597975"],"apc_list":null,"apc_paid":null,"fwci":4.7878,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.94125417,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"4236","last_page":"4252"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6870719194412231},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.65984046459198},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.628877580165863},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.57486492395401},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47176697850227356},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09152480959892273}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6870719194412231},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.65984046459198},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.628877580165863},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.57486492395401},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47176697850227356},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09152480959892273},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3582817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3582817","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1826354755","https://openalex.org/W1982447260","https://openalex.org/W1995963656","https://openalex.org/W2006548260","https://openalex.org/W2021851106","https://openalex.org/W2035430745","https://openalex.org/W2058535340","https://openalex.org/W2076310319","https://openalex.org/W2083347703","https://openalex.org/W2104058278","https://openalex.org/W2108134361","https://openalex.org/W2110357983","https://openalex.org/W2119090229","https://openalex.org/W2150066425","https://openalex.org/W2152671441","https://openalex.org/W2194775991","https://openalex.org/W2201211857","https://openalex.org/W2201912979","https://openalex.org/W2293524877","https://openalex.org/W2335829695","https://openalex.org/W2342840547","https://openalex.org/W2396274919","https://openalex.org/W2397903655","https://openalex.org/W2535547924","https://openalex.org/W2558027072","https://openalex.org/W2559767995","https://openalex.org/W2585954273","https://openalex.org/W2593769898","https://openalex.org/W2593841437","https://openalex.org/W2725499676","https://openalex.org/W2736913487","https://openalex.org/W2780351918","https://openalex.org/W2884565639","https://openalex.org/W2891418445","https://openalex.org/W2905173465","https://openalex.org/W2906245316","https://openalex.org/W2911652069","https://openalex.org/W2912063360","https://openalex.org/W2922243907","https://openalex.org/W2962833723","https://openalex.org/W2962887844","https://openalex.org/W2962894046","https://openalex.org/W2963099939","https://openalex.org/W2967895468","https://openalex.org/W3003962966","https://openalex.org/W3009928773","https://openalex.org/W3010072020","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3132270109","https://openalex.org/W3133395594","https://openalex.org/W4210960145","https://openalex.org/W4283204305","https://openalex.org/W4296012100","https://openalex.org/W4297728751","https://openalex.org/W4298857966","https://openalex.org/W4361865079","https://openalex.org/W4387101318","https://openalex.org/W4401018314"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Large-scale":[0],"evaluation":[1],"of":[2,38,52,111,181],"state-of-the-art":[3],"visual":[4,39,187],"SLAM":[5],"has":[6],"shown":[7],"that":[8],"its":[9,86],"tracking":[10,40],"performance":[11,103],"degrades":[12],"considerably":[13],"if":[14],"the":[15,23,36,49,64,74,81,90,145,179],"camera":[16],"view":[17,57],"is":[18],"not":[19],"adjusted":[20],"to":[21,34,79,88],"avoid":[22],"low-texture":[24],"areas.":[25],"Deep":[26],"reinforcement":[27,53],"learning":[28,54,129,183],"based":[29,55],"approaches":[30],"have":[31],"been":[32],"proposed":[33],"improve":[35],"robustness":[37],"in":[41,60],"such":[42],"unsupervised":[43,148],"settings.":[44],"Our":[45],"extensive":[46],"analysis":[47],"reveals":[48],"fundamental":[50],"limitations":[51],"active":[56],"planning,":[58],"especially":[59],"transition":[61,72,82,174],"scenarios":[62,175],"(entering/exiting":[63],"room,":[65],"texture-less":[66],"walls,":[67],"and":[68,99,143,172,176],"lobbies).":[69],"In":[70],"challenging":[71,171],"scenarios,":[73],"agent":[75],"generally":[76],"remains":[77],"unable":[78],"cross":[80],"during":[83],"training,":[84],"limiting":[85],"ability":[87],"learn":[89],"maneuver.":[91],"We":[92,159,189],"propose":[93],"human-supervised":[94,135],"RL":[95],"training":[96,136,149,166],"(imitation":[97],"learning)":[98],"achieve":[100],"significantly":[101],"improved":[102],"after":[104],"<inline-formula":[105],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[106,138,151,197,200],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[107,139,152],"notation=\"LaTeX\">$\\sim$</tex-math></inline-formula>":[108,140,153],"50":[109],"hours":[110],"supervised":[112,165],"training.":[113],"To":[114],"reduce":[115],"longer":[116],"human":[117,164],"supervision":[118],"requirements,":[119],"we":[120,132],"also":[121,160,190],"explore":[122],"fine-tuning":[123],"our":[124,162,192],"network":[125,146],"with":[126,147],"an":[127],"online":[128],"policy.":[130],"Here,":[131],"use":[133],"limited":[134],"(<inline-formula":[137,150],"20":[141],"hours),":[142,155],"fine-tune":[144],"45":[154],"obtaining":[156],"encouraging":[157],"results.":[158],"release":[161,191],"multi-model,":[163],"dataset.":[167],"The":[168],"dataset":[169],"contains":[170],"diverse":[173],"can":[177],"aid":[178],"development":[180],"imitation":[182],"policies":[184],"for":[185],"consistent":[186],"tracking.":[188],"implementation":[193],"<xref":[194],"ref-type=\"fn\"":[195],"rid=\"fn1\"":[196],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><sup>1</sup></xref><fn":[198],"id=\"fn1\"":[199],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><label><sup>1</sup></label>":[201],"<uri>https://tinyurl.com/478maz6u</uri>":[202],"</fn>.":[203]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-01-04T23:08:39.989793","created_date":"2025-10-10T00:00:00"}
