{"id":"https://openalex.org/W4382362889","doi":"https://doi.org/10.1126/scirobotics.adf6991","title":"Navigating to objects in the real world","display_name":"Navigating to objects in the real world","publication_year":2023,"publication_date":"2023-06-28","ids":{"openalex":"https://openalex.org/W4382362889","doi":"https://doi.org/10.1126/scirobotics.adf6991","pmid":"https://pubmed.ncbi.nlm.nih.gov/37379376"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adf6991","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adf6991","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5066822842","display_name":"Th\u00e9ophile Gervet","orcid":"https://orcid.org/0000-0001-8851-533X"},"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":true,"raw_author_name":"Theophile Gervet","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8851-533X","affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002078510","display_name":"Soumith Chintala","orcid":"https://orcid.org/0000-0003-2147-9850"},"institutions":[{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soumith Chintala","raw_affiliation_strings":["Meta AI Research, Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meta AI Research, Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210099336"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014035752","display_name":"Dhruv Batra","orcid":"https://orcid.org/0000-0002-1358-0011"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dhruv Batra","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA","Meta AI Research, Menlo Park, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1358-0011","affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Meta AI Research, Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210099336"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001594573","display_name":"Jitendra Malik","orcid":"https://orcid.org/0000-0003-3695-1580"},"institutions":[{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jitendra Malik","raw_affiliation_strings":["Meta AI Research, Menlo Park, CA, USA","University of California, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3695-1580","affiliations":[{"raw_affiliation_string":"Meta AI Research, Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210099336"]},{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016223957","display_name":"Devendra Singh Chaplot","orcid":null},"institutions":[{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Devendra Singh Chaplot","raw_affiliation_strings":["Meta AI Research, Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Meta AI Research, Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210099336"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066822842"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":82.2864,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.99952543,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"8","issue":"79","first_page":"eadf6991","last_page":"eadf6991"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9979000091552734,"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/T11904","display_name":"Spatial Cognition and Navigation","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/computer-science","display_name":"Computer science","score":0.39604559540748596},{"id":"https://openalex.org/keywords/history","display_name":"History","score":0.3503718972206116},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3393675684928894}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39604559540748596},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.3503718972206116},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3393675684928894}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.adf6991","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adf6991","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:37379376","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37379376","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":84,"referenced_works":["https://openalex.org/W801273237","https://openalex.org/W1539282749","https://openalex.org/W1599888605","https://openalex.org/W1923184257","https://openalex.org/W1957167950","https://openalex.org/W1967740178","https://openalex.org/W1978289112","https://openalex.org/W1987648924","https://openalex.org/W1999050017","https://openalex.org/W1999244633","https://openalex.org/W2000146415","https://openalex.org/W2007635681","https://openalex.org/W2055904838","https://openalex.org/W2083347703","https://openalex.org/W2097696373","https://openalex.org/W2097856935","https://openalex.org/W2107667896","https://openalex.org/W2117211893","https://openalex.org/W2145060371","https://openalex.org/W2145339207","https://openalex.org/W2152671441","https://openalex.org/W2158057652","https://openalex.org/W2160584648","https://openalex.org/W2169033759","https://openalex.org/W2194775991","https://openalex.org/W2201912979","https://openalex.org/W2522489477","https://openalex.org/W2593841437","https://openalex.org/W2600030077","https://openalex.org/W2604268026","https://openalex.org/W2604455318","https://openalex.org/W2605102758","https://openalex.org/W2636355936","https://openalex.org/W2739423245","https://openalex.org/W2740418457","https://openalex.org/W2786472725","https://openalex.org/W2798483995","https://openalex.org/W2800142021","https://openalex.org/W2895453875","https://openalex.org/W2895745202","https://openalex.org/W2953127211","https://openalex.org/W2962684798","https://openalex.org/W2962789679","https://openalex.org/W2962887844","https://openalex.org/W2962894046","https://openalex.org/W2963150697","https://openalex.org/W2963394817","https://openalex.org/W2963800628","https://openalex.org/W2986303149","https://openalex.org/W2990747716","https://openalex.org/W3009928773","https://openalex.org/W3011144238","https://openalex.org/W3028588964","https://openalex.org/W3038825904","https://openalex.org/W3049043369","https://openalex.org/W3090386798","https://openalex.org/W3095530566","https://openalex.org/W3107575247","https://openalex.org/W3109978116","https://openalex.org/W3135759888","https://openalex.org/W3152331843","https://openalex.org/W3199020598","https://openalex.org/W3201759799","https://openalex.org/W3202883604","https://openalex.org/W3205239453","https://openalex.org/W3206064780","https://openalex.org/W3206919976","https://openalex.org/W3207872317","https://openalex.org/W3210395242","https://openalex.org/W3211462570","https://openalex.org/W4205430897","https://openalex.org/W4207072548","https://openalex.org/W4226056825","https://openalex.org/W4241644338","https://openalex.org/W4283784462","https://openalex.org/W4285306713","https://openalex.org/W4312396969","https://openalex.org/W4312424618","https://openalex.org/W4312647074","https://openalex.org/W4312707839","https://openalex.org/W4312807436","https://openalex.org/W4313057103","https://openalex.org/W4313180266","https://openalex.org/W4386075729"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655","https://openalex.org/W2359140296"],"abstract_inverted_index":{"Semantic":[0],"navigation":[1,82,108],"is":[2,180],"necessary":[3],"to":[4,24,47,59,156,184,186],"deploy":[5],"mobile":[6],"robots":[7],"in":[8,22,88,137,191,216],"uncontrolled":[9],"environments":[10],"such":[11],"as":[12],"homes":[13,122],"or":[14,128],"hospitals.":[15],"Many":[16],"learning-based":[17,74],"approaches":[18,54,68,119],"have":[19,84],"been":[20,86],"proposed":[21],"response":[23],"the":[25,31,70,138],"lack":[26],"of":[27,30,105,163],"semantic":[28,75,106],"understanding":[29],"classical":[32,71],"pipeline":[33,72],"for":[34],"spatial":[35],"navigation,":[36],"which":[37],"builds":[38],"a":[39,97,101,142,157,164,181,219],"geometric":[40],"map":[41,56],"using":[42],"depth":[43],"sensors":[44],"and":[45,77,116,171,189,218,223],"plans":[46],"reach":[48],"point":[49],"goals.":[50],"Broadly,":[51],"end-to-end":[52,117,148],"learning":[53,67,118,134,149,179],"reactively":[55],"sensor":[57],"inputs":[58],"actions":[60],"with":[61,73,90,113,123],"deep":[62],"neural":[63],"networks,":[64],"whereas":[65],"modular":[66,133,178],"enrich":[69],"sensing":[76],"exploration.":[78],"However,":[79],"learned":[80],"visual":[81,107],"policies":[83],"predominantly":[85],"evaluated":[87],"sim,":[89],"little":[91],"known":[92],"about":[93],"what":[94],"works":[95,135],"on":[96],"robot.":[98],"We":[99,130],"present":[100],"large-scale":[102],"empirical":[103],"study":[104],"methods":[109,112],"comparing":[110],"representative":[111],"classical,":[114],"modular,":[115],"across":[120],"six":[121],"no":[124],"prior":[125],"experience,":[126],"maps,":[127],"instrumentation.":[129],"found":[131],"that":[132,177,204],"well":[136],"real":[139],"world,":[140],"attaining":[141],"90%":[143],"success":[144,160],"rate.":[145],"In":[146],"contrast,":[147],"does":[150],"not,":[151],"dropping":[152],"from":[153,208],"77%":[154],"sim":[155,170,222],"23%":[158],"real-world":[159,224],"rate":[161],"because":[162],"large":[165,213],"image":[166],"domain":[167],"gap":[168,215],"between":[169,221],"reality.":[172],"For":[173,197],"practitioners,":[174],"we":[175,199],"show":[176],"reliable":[182,210],"approach":[183],"navigate":[185],"objects:":[187],"Modularity":[188],"abstraction":[190],"policy":[192],"design":[193],"enable":[194],"sim-to-real":[195,214],"transfer.":[196],"researchers,":[198],"identify":[200],"two":[201],"key":[202],"issues":[203],"prevent":[205],"today's":[206],"simulators":[207],"being":[209],"evaluation":[211],"benchmarks-a":[212],"images":[217],"disconnect":[220],"error":[225],"modes-and":[226],"propose":[227],"concrete":[228],"steps":[229],"forward.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":46},{"year":2024,"cited_by_count":43},{"year":2023,"cited_by_count":14}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}