{"id":"https://openalex.org/W7168346156","doi":"https://doi.org/10.48550/arxiv.2607.12370","title":"StratMamba: Strategic and Reactive Stream Partitioning for Path-Efficient LiDAR-Based Obstacle Avoidance","display_name":"StratMamba: Strategic and Reactive Stream Partitioning for Path-Efficient LiDAR-Based Obstacle Avoidance","publication_year":2026,"publication_date":"2026-07-14","ids":{"openalex":"https://openalex.org/W7168346156","doi":"https://doi.org/10.48550/arxiv.2607.12370"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.12370","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.12370","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.2607.12370","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140829457","display_name":"Hung-Chieh Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Hung-Chieh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140940162","display_name":"Xiaopan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xiaopan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140871070","display_name":"Kasra Sinaei","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sinaei, Kasra","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140766501","display_name":"Ryan Abnavi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abnavi, Ryan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140770653","display_name":"Kasun Weerakoon","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weerakoon, Kasun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140958008","display_name":"Christopher Bradley","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bradley, Christopher","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140880152","display_name":"Seyed Fakoorian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fakoorian, Seyed","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140948410","display_name":"Jiachen Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jiachen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140889017","display_name":"Donald Ebeigbe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ebeigbe, Donald","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6047000288963318,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6047000288963318,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.13830000162124634,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.09380000084638596,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.840499997138977},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.6739000082015991},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6474999785423279},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6328999996185303},{"id":"https://openalex.org/keywords/timeout","display_name":"Timeout","score":0.6075999736785889},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.579800009727478},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5720000267028809},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5579000115394592}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.840499997138977},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.6739000082015991},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6503999829292297},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6474999785423279},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6328999996185303},{"id":"https://openalex.org/C31691690","wikidata":"https://www.wikidata.org/wiki/Q1753979","display_name":"Timeout","level":2,"score":0.6075999736785889},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.579800009727478},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5720000267028809},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5579000115394592},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.49149999022483826},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48649999499320984},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4767000079154968},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.44359999895095825},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.423799991607666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41260001063346863},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.364300012588501},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.2980000078678131},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2782000005245209},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.27639999985694885},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.27230000495910645},{"id":"https://openalex.org/C96522737","wikidata":"https://www.wikidata.org/wiki/Q17148345","display_name":"Path integration","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.12370","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.12370","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.2607.12370","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.12370","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"StratMamba,":[3],"a":[4,28,79,113],"dual-stream":[5,165],"Mamba-based":[6],"temporal":[7,15,94,109],"modeling":[8],"architecture,":[9],"to":[10,157],"more":[11,149],"efficiently":[12],"capture":[13],"long-horizon":[14],"dependencies":[16],"required":[17],"for":[18,44,56],"robot":[19,83],"navigation":[20,121,173],"in":[21,68,85],"complex":[22],"and":[23,32,70,101,160],"obstacle-rich":[24],"environments.":[25],"StratMamba":[26,106,147],"leverages":[27],"combination":[29],"of":[30,63,88],"fast-decay":[31,38],"slow-decay":[33,50],"memory":[34],"architectures,":[35],"where":[36],"the":[37,49,86,119,133,161],"component":[39,51],"processes":[40],"high-frequency":[41],"LiDAR":[42,154],"data":[43],"reactive":[45,169],"obstacle":[46,65],"avoidance,":[47],"while":[48,72,117],"maintains":[52,148],"longer-horizon":[53],"goal":[54],"information":[55],"strategic":[57,172],"planning.":[58],"We":[59],"perform":[60],"extensive":[61],"evaluations":[62],"different":[64],"avoidance":[66],"scenarios":[67],"IsaacLab":[69],"Gazebo,":[71],"also":[73,131],"validating":[74],"successful":[75],"sim-to-real":[76],"deployment":[77],"on":[78],"Unitree":[80],"GO1":[81],"quadruped":[82],"navigating":[84],"presence":[87],"static/dynamic":[89],"obstacles.":[90],"Comparisons":[91],"with":[92,112,171],"other":[93],"RL":[95],"baselines,":[96],"such":[97],"as":[98],"LSTM,":[99],"Transformer,":[100,162],"Vanilla-Mamba,":[102],"show":[103],"that":[104,146,164],"our":[105],"achieves":[107,132],"exceptional":[108],"reasoning":[110],"efficiency":[111],"lower":[114],"timeout":[115],"rate,":[116],"maintaining":[118],"fastest":[120],"speed":[122],"(576":[123],"median":[124],"steps,":[125],"5.0%":[126],"better":[127],"than":[128],"Vanilla-Mamba).":[129],"It":[130],"highest":[134],"path":[135,138],"optimality":[136],"(0.915":[137],"efficiency)":[139],"across":[140,152],"all":[141],"baselines.":[142],"Real-world":[143],"evaluation":[144],"reveals":[145],"robust":[150],"performance":[151],"extended":[153],"ranges":[155],"compared":[156],"vanilla":[158],"Mamba":[159],"demonstrating":[163],"partitioning":[166],"effectively":[167],"balances":[168],"safety":[170],"under":[174],"challenging":[175],"sensing":[176],"conditions.":[177]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-16T00:00:00"}