{"id":"https://openalex.org/W4413925272","doi":"https://doi.org/10.1109/icra55743.2025.11128196","title":"DARE: Diffusion Policy for Autonomous Robot Exploration","display_name":"DARE: Diffusion Policy for Autonomous Robot Exploration","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925272","doi":"https://doi.org/10.1109/icra55743.2025.11128196"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128196","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 Automation (ICRA)","raw_type":"proceedings-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/A5030979504","display_name":"Yuhong Cao","orcid":"https://orcid.org/0000-0001-8065-4634"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuhong Cao","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jeric Lew","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jeric Lew","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108118396","display_name":"Jingsong Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jingsong Liang","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101738859","display_name":"Jin Cheng","orcid":"https://orcid.org/0000-0003-0378-0092"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin Cheng","raw_affiliation_strings":["ETH Z&#x00FC;rich,Department of Computer Science,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Department of Computer Science,Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069667034","display_name":"Guillaume Sartoretti","orcid":"https://orcid.org/0000-0002-7579-9916"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guillaume Sartoretti","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.3801,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94917387,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"11987","last_page":"11993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9700000286102295,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9700000286102295,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9553999900817871,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9373999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.6544263958930969},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.6032570600509644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5820419788360596},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3451725244522095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27372774481773376},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08280941843986511}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6544263958930969},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.6032570600509644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5820419788360596},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3451725244522095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27372774481773376},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08280941843986511},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128196","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128196","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 Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G548884488","display_name":null,"funder_award_id":"TL/FS/2022/01","funder_id":"https://openalex.org/F4320320698","funder_display_name":"National University of Singapore"}],"funders":[{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2089437550","https://openalex.org/W2107667896","https://openalex.org/W2131244428","https://openalex.org/W2194775991","https://openalex.org/W2296693980","https://openalex.org/W2409009991","https://openalex.org/W2573758756","https://openalex.org/W2769990600","https://openalex.org/W2891234582","https://openalex.org/W2908729504","https://openalex.org/W2966477753","https://openalex.org/W3097090618","https://openalex.org/W3133136962","https://openalex.org/W3133648073","https://openalex.org/W3176634028","https://openalex.org/W4200079766","https://openalex.org/W4226300900","https://openalex.org/W4292544413","https://openalex.org/W4315750730","https://openalex.org/W4383109033","https://openalex.org/W4385245566","https://openalex.org/W4385403811","https://openalex.org/W4392979611","https://openalex.org/W4403337227"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Autonomous":[0],"robot":[1,5,26],"exploration":[2,70,138],"requires":[3],"a":[4,53,83],"to":[6,14,33,42,94,109],"efficiently":[7],"explore":[8],"and":[9,82,86,117,135,148],"map":[10],"unknown":[11,45,115],"environments.":[12],"Compared":[13],"conventional":[15,134],"methods":[16,29],"that":[17,57,127],"can":[18,66,103],"only":[19],"optimize":[20],"paths":[21],"based":[22],"on":[23,39,62],"the":[24,31,106,111],"current":[25],"belief,":[27],"learning-based":[28,136],"show":[30],"potential":[32,112],"achieve":[34],"improved":[35],"performance":[36,131],"by":[37],"drawing":[38],"past":[40],"experiences":[41],"reason":[43,104],"about":[44,105],"areas.":[46],"In":[47],"this":[48],"paper,":[49],"we":[50],"propose":[51],"DARE,":[52],"novel":[54],"generative":[55],"approach":[56],"leverages":[58],"diffusion":[59,84],"models":[60],"trained":[61,101],"expert":[63],"demonstrations,":[64],"which":[65],"explicitly":[67],"generate":[68],"an":[69,79],"path":[71,122],"through":[72],"one-time":[73],"inference.":[74],"We":[75],"build":[76],"DARE":[77,128],"upon":[78],"attention-based":[80],"encoder":[81],"model,":[85],"introduce":[87],"ground":[88],"truth":[89],"optimal":[90],"demonstrations":[91],"for":[92,98],"training":[93],"learn":[95],"better":[96],"patterns":[97],"exploration.":[99],"The":[100],"planner":[102],"partial":[107],"belief":[108],"recognize":[110],"structure":[113],"in":[114,145],"areas":[116,120],"consider":[118],"these":[119],"during":[121],"planning.":[123],"Our":[124,151],"experiments":[125],"demonstrate":[126],"achieves":[129],"on-par":[130],"with":[132],"both":[133,146],"state-of-the-art":[137],"planners,":[139],"as":[140,142],"well":[141],"good":[143],"generalizability":[144],"simulations":[147],"real-life":[149],"scenarios.":[150],"code":[152],"is":[153],"available":[154],"at":[155],"github.com/marmotlab/DARE.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-13T07:54:00.901334","created_date":"2025-10-10T00:00:00"}
