{"id":"https://openalex.org/W7148767061","doi":"https://doi.org/10.48550/arxiv.2604.01659","title":"AURA: Multimodal Shared Autonomy for Real-World Urban Navigation","display_name":"AURA: Multimodal Shared Autonomy for Real-World Urban Navigation","publication_year":2026,"publication_date":"2026-04-02","ids":{"openalex":"https://openalex.org/W7148767061","doi":"https://doi.org/10.48550/arxiv.2604.01659"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.01659","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01659","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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.2604.01659","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132900758","display_name":"Yukai Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Yukai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132850218","display_name":"Honglin He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Honglin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132834379","display_name":"Selina Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Selina","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000896822","display_name":"Wayne Wu","orcid":"https://orcid.org/0000-0002-1364-8151"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Wayne","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132915105","display_name":"Bolei Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Bolei","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5182999968528748,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5182999968528748,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.164900004863739,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.1242000013589859,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7281000018119812},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.6225000023841858},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5184999704360962},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5098999738693237},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.44830000400543213},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4092000126838684},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38940000534057617},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.35600000619888306}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7281000018119812},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6780999898910522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6766999959945679},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.6225000023841858},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5184999704360962},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5098999738693237},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.44830000400543213},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4092000126838684},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38940000534057617},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.35600000619888306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3433000147342682},{"id":"https://openalex.org/C170494330","wikidata":"https://www.wikidata.org/wiki/Q1778434","display_name":"Cognitive map","level":3,"score":0.3192000091075897},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.31679999828338623},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3034000098705292},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.2831000089645386},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.27570000290870667},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.2712000012397766},{"id":"https://openalex.org/C2780910867","wikidata":"https://www.wikidata.org/wiki/Q1952416","display_name":"Multimodality","level":2,"score":0.2547000050544739},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.25200000405311584},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.01659","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01659","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.01659","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01659","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7234957814216614,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Long-horizon":[0],"navigation":[1,82,141],"in":[2,122,172],"complex":[3],"urban":[4,81],"environments":[5],"relies":[6],"heavily":[7],"on":[8,33],"continuous":[9],"human":[10,30,85,100,133],"operation,":[11],"which":[12],"leads":[13],"to":[14,42,56,64,97],"fatigue,":[15],"reduced":[16],"efficiency,":[17],"and":[18,28,54,87,104,118,124,139,167],"safety":[19],"concerns.":[20],"Shared":[21],"autonomy,":[22],"where":[23],"a":[24,29,39,75,93,113],"Vision-Language":[25],"AI":[26,55,89],"agent":[27],"operator":[31],"collaborate":[32],"maneuvering":[34],"the":[35,59,125,157,173],"mobile":[36],"machine,":[37],"presents":[38],"promising":[40],"solution":[41],"address":[43],"these":[44],"issues.":[45],"However,":[46],"existing":[47],"shared":[48,153],"autonomy":[49,154],"methods":[50],"often":[51],"require":[52],"humans":[53],"operate":[57],"within":[58],"same":[60],"action":[61],"space,":[62],"leading":[63],"high":[65],"cognitive":[66],"overhead.":[67],"We":[68],"present":[69],"Assistive":[70],"Urban":[71],"Robot":[72],"Autonomy":[73],"(AURA),":[74],"new":[76],"multi-modal":[77],"framework":[78,155],"that":[79,129],"decomposes":[80],"into":[83],"high-level":[84],"instruction":[86],"low-level":[88],"control.":[90],"AURA":[91,130],"incorporates":[92],"Spatial-Aware":[94],"Instruction":[95],"Encoder":[96],"align":[98],"various":[99],"instructions":[101],"with":[102],"visual":[103],"spatial":[105],"context.":[106],"To":[107],"facilitate":[108],"training,":[109],"we":[110],"construct":[111],"MM-CoS,":[112],"large-scale":[114],"dataset":[115],"comprising":[116],"teleoperation":[117],"vision-language":[119],"descriptions.":[120],"Experiments":[121],"simulation":[123],"real":[126],"world":[127],"demonstrate":[128],"effectively":[131],"follows":[132],"instructions,":[134],"reduces":[135,156],"manual":[136],"operation":[137],"effort,":[138],"improves":[140],"stability,":[142],"while":[143],"enabling":[144],"online":[145],"adaptation.":[146],"Moreover,":[147],"under":[148],"similar":[149],"takeover":[150],"conditions,":[151],"our":[152],"frequency":[158],"of":[159],"takeovers":[160],"by":[161],"more":[162,168],"than":[163],"44%.":[164],"Demo":[165],"video":[166],"detail":[169],"are":[170],"provided":[171],"project":[174],"page.":[175]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-04T00:00:00"}