{"id":"https://openalex.org/W7133500506","doi":"https://doi.org/10.48550/arxiv.2603.02976","title":"DreamFlow: Local Navigation Beyond Observation via Conditional Flow Matching in the Latent Space","display_name":"DreamFlow: Local Navigation Beyond Observation via Conditional Flow Matching in the Latent Space","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133500506","doi":"https://doi.org/10.48550/arxiv.2603.02976"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.02976","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02976","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.02976","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128103813","display_name":"Jiwon Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Jiwon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128048354","display_name":"Dongkyu Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Dongkyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128115028","display_name":"I Made Aswin Nahrendra","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nahrendra, I Made Aswin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101711591","display_name":"Jaeyoung Lim","orcid":"https://orcid.org/0000-0002-5695-4511"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lim, Jaeyoung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128091035","display_name":"Hyun Myung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Myung, Hyun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4348999857902527,"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":0.4348999857902527,"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":0.3176000118255615,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.05290000140666962,"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/representation","display_name":"Representation (politics)","score":0.5508999824523926},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5379999876022339},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.43650001287460327},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.430400013923645},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.4032000005245209},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.3711000084877014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3671000003814697},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.36480000615119934}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6674000024795532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6653000116348267},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5508999824523926},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5379999876022339},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.43650001287460327},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4357999861240387},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.430400013923645},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.4032000005245209},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3711000084877014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3671000003814697},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.36480000615119934},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33570000529289246},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3303000032901764},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.32839998602867126},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29490000009536743},{"id":"https://openalex.org/C152565575","wikidata":"https://www.wikidata.org/wiki/Q1124538","display_name":"Conditional random field","level":2,"score":0.2915000021457672},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2784999907016754},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.26089999079704285}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.02976","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02976","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.02976","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02976","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.423287570476532}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Local":[0],"navigation":[1,43,65,98,103,131],"in":[2,124,133,141],"cluttered":[3,142],"environments":[4,145],"often":[5],"suffers":[6],"from":[7],"dense":[8],"obstacles":[9],"and":[10,20,92,110,130],"frequent":[11],"local":[12,15,64,87,114],"minima.":[13,115],"Conventional":[14],"planners":[16],"rely":[17],"on":[18,97],"heuristics":[19],"are":[21,33],"prone":[22],"to":[23,42,105],"failure,":[24],"while":[25],"deep":[26],"reinforcement":[27],"learning(DRL)based":[28],"approaches":[29],"provide":[30],"adaptability":[31],"but":[32],"constrained":[34],"by":[35],"limited":[36],"onboard":[37],"sensing.":[38],"These":[39],"limitations":[40],"lead":[41],"failures":[44],"because":[45],"the":[46,69,102],"robot":[47],"cannot":[48],"perceive":[49],"structures":[50],"outside":[51],"its":[52],"field":[53],"of":[54,126],"view.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59],"propose":[60],"DreamFlow,":[61],"a":[62,147],"DRL-based":[63],"framework":[66],"that":[67,119],"extends":[68],"robot's":[70],"perceptual":[71],"horizon":[72],"through":[73],"conditional":[74],"flow":[75],"matching(CFM).":[76],"The":[77,135,150],"proposed":[78,136],"CFM":[79],"based":[80],"prediction":[81,128],"module":[82],"learns":[83],"probabilistic":[84],"mapping":[85],"between":[86],"height":[88],"map":[89],"latent":[90,127],"representation":[91,95],"broader":[93],"spatial":[94],"conditioned":[96],"context.":[99],"This":[100],"enables":[101],"policy":[104],"predict":[106],"unobserved":[107],"environmental":[108],"features":[109],"proactively":[111],"avoid":[112],"potential":[113],"Experimental":[116],"results":[117],"demonstrate":[118],"DreamFlow":[120],"outperforms":[121],"existing":[122],"methods":[123],"terms":[125],"accuracy":[129],"performance":[132],"simulation.":[134],"method":[137],"was":[138],"further":[139],"validated":[140],"real":[143],"world":[144],"with":[146],"quadrupedal":[148],"robot.":[149],"project":[151],"page":[152],"is":[153],"available":[154],"at":[155],"https://dreamflow-icra.github.io.":[156]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-03-05T00:00:00"}