{"id":"https://openalex.org/W3200223366","doi":"https://doi.org/10.1109/icra46639.2022.9811828","title":"Visual Representation Learning for Preference-Aware Path Planning","display_name":"Visual Representation Learning for Preference-Aware Path Planning","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3200223366","doi":"https://doi.org/10.1109/icra46639.2022.9811828","mag":"3200223366"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811828","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5089599433","display_name":"Kavan Singh Sikand","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kavan Singh Sikand","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science,Austin,TX","Department of Computer Science, The University of Texas at Austin, Austin, TX"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science,Austin,TX","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039662364","display_name":"Sadegh Rabiee","orcid":"https://orcid.org/0000-0002-2847-2531"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sadegh Rabiee","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science,Austin,TX","Department of Computer Science, The University of Texas at Austin, Austin, TX"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science,Austin,TX","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070348853","display_name":"Adam Uccello","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Uccello","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science,Austin,TX","Department of Computer Science, The University of Texas at Austin, Austin, TX","United States Army Research Laboratory (ARL)"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science,Austin,TX","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"United States Army Research Laboratory (ARL)","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017662025","display_name":"Xuesu Xiao","orcid":"https://orcid.org/0000-0001-5151-2186"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuesu Xiao","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science,Austin,TX","Department of Computer Science, The University of Texas at Austin, Austin, TX"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science,Austin,TX","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060981901","display_name":"Garrett Warnell","orcid":"https://orcid.org/0000-0003-3846-8787"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garrett Warnell","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science,Austin,TX","Department of Computer Science, The University of Texas at Austin, Austin, TX","United States Army Research Laboratory (ARL)"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science,Austin,TX","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"United States Army Research Laboratory (ARL)","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004302220","display_name":"Joydeep Biswas","orcid":"https://orcid.org/0000-0002-1211-1731"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joydeep Biswas","raw_affiliation_strings":["The University of Texas at Austin,Department of Computer Science,Austin,TX","Department of Computer Science, The University of Texas at Austin, Austin, TX"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Department of Computer Science,Austin,TX","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5089599433"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.9559,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.82980837,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11303","last_page":"11309"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994000196456909,"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":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9972000122070312,"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/terrain","display_name":"Terrain","score":0.8061467409133911},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.71773362159729},{"id":"https://openalex.org/keywords/dirt","display_name":"Dirt","score":0.7142564058303833},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6368682384490967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6290832161903381},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5361108183860779},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.51971435546875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5157075524330139},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.4994652271270752},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4369739592075348},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.4357687830924988},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.421160489320755},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33743804693222046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26991379261016846},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.18373718857765198},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.1260482370853424},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10842594504356384}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8061467409133911},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.71773362159729},{"id":"https://openalex.org/C2778582501","wikidata":"https://www.wikidata.org/wiki/Q555882","display_name":"Dirt","level":2,"score":0.7142564058303833},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6368682384490967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6290832161903381},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5361108183860779},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.51971435546875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5157075524330139},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.4994652271270752},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4369739592075348},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.4357687830924988},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.421160489320755},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33743804693222046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26991379261016846},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.18373718857765198},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.1260482370853424},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10842594504356384},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811828","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G2063789601","display_name":null,"funder_award_id":"HR001120C0031","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G6442633851","display_name":null,"funder_award_id":"CAREER-2046955,IIS-1954778,SHF-2006404","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8828030238","display_name":null,"funder_award_id":"W911NF-19-2-0333","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310620","display_name":"University of Texas at Austin","ror":"https://ror.org/00hj54h04"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1757796397","https://openalex.org/W2049954099","https://openalex.org/W2125338973","https://openalex.org/W2296673577","https://openalex.org/W2341150500","https://openalex.org/W2406364024","https://openalex.org/W2586777479","https://openalex.org/W2598634450","https://openalex.org/W2882977163","https://openalex.org/W2889840352","https://openalex.org/W2912063360","https://openalex.org/W2913921102","https://openalex.org/W2963662050","https://openalex.org/W2963867315","https://openalex.org/W2967853831","https://openalex.org/W2986357018","https://openalex.org/W2987175876","https://openalex.org/W3003922739","https://openalex.org/W3005680577","https://openalex.org/W3006388420","https://openalex.org/W3034978746","https://openalex.org/W3101693694","https://openalex.org/W3109220298","https://openalex.org/W3127756416","https://openalex.org/W3145385912","https://openalex.org/W3146141499","https://openalex.org/W3207515629","https://openalex.org/W4298857966","https://openalex.org/W6637967152","https://openalex.org/W6735531217","https://openalex.org/W6752960315","https://openalex.org/W6774314701","https://openalex.org/W6786138170"],"related_works":["https://openalex.org/W2057213227","https://openalex.org/W2483334712","https://openalex.org/W2921959338","https://openalex.org/W2352212546","https://openalex.org/W195039303","https://openalex.org/W2157479968","https://openalex.org/W2036897369","https://openalex.org/W2382531111","https://openalex.org/W2381195684","https://openalex.org/W4285089922"],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1],"robots":[2],"deployed":[3],"in":[4,142,216],"outdoor":[5,197],"environments":[6],"must":[7],"reason":[8],"about":[9],"different":[10],"types":[11,47,84,141,240],"of":[12,64,72,122,132],"terrain":[13,46,75,83,133,140,170,239],"for":[14,104,128],"both":[15],"safety":[16],"(e.g.,":[17,25,85],"prefer":[18,26],"dirt":[19,27],"over":[20,29],"mud)":[21],"and":[22,51,88,138,181],"deployer":[23],"preferences":[24],"path":[28,38,189],"flower":[30],"beds).":[31],"Most":[32],"existing":[33],"solutions":[34],"to":[35,44,55,80,94,124,161,169,179,184,186,206,218,235,237],"this":[36],"preference-aware":[37,188],"planning":[39],"problem":[40],"use":[41],"semantic":[42,97],"segmentation":[43],"classify":[45],"from":[48,165,177,195],"camera":[49],"images,":[50],"then":[52,151,182],"ascribe":[53],"costs":[54,185],"each":[56],"type.":[57],"Unfortunately,":[58],"there":[59],"are":[60,78,135,150],"three":[61,115],"key":[62],"limitations":[63],"such":[65,230],"approaches":[66],"-":[67],"they":[68],"1)":[69,202],"require":[70,90],"preenumeration":[71],"the":[73,155,166],"discrete":[74],"types,":[76],"2)":[77,213],"unable":[79],"handle":[81],"hybrid":[82],"grassy":[86],"dirt),":[87],"3)":[89,232],"expensive":[91],"labelled":[92],"data":[93],"train":[95],"visual":[96,130],"segmentation.":[98],"We":[99,191],"introduce":[100],"Visual":[101],"Representation":[102],"Learning":[103],"Preference-Aware":[105],"Path":[106],"Planning":[107],"(VRL-PAP),":[108],"an":[109],"alternative":[110],"approach":[111],"that":[112,134,199,209],"overcomes":[113],"all":[114],"limitations:":[116],"VRL-PAP":[117,175,201],"leverages":[118],"un-labelled":[119],"human":[120,158],"demonstrations":[121,160],"navigation":[123,159,220],"autonomously":[125],"generate":[126],"triplets":[127],"learning":[129],"representations":[131,149,180,183],"viewpoint":[136],"invariant":[137],"encode":[139],"a":[143,163,222],"continuous":[144],"representation":[145,167],"space.":[146],"The":[147],"learned":[148],"used":[152],"along":[153],"with":[154,221,241],"same":[156],"unlabelled":[157],"learn":[162],"mapping":[164],"space":[168],"costs.":[171],"At":[172],"run":[173],"time,":[174],"maps":[176],"images":[178],"perform":[187],"planning.":[190],"present":[192],"empirical":[193],"results":[194],"challenging":[196],"settings":[198],"demonstrate":[200],"is":[203,214,233],"successfully":[204],"able":[205,234],"pick":[207],"paths":[208],"reflect":[210],"demonstrated":[211],"preferences,":[212],"comparable":[215],"execution":[217],"geometric":[219],"highly":[223],"detailed":[224],"manually":[225],"annotated":[226],"map":[227],"(without":[228],"requiring":[229],"annotations),":[231],"generalize":[236],"novel":[238],"minimal":[242],"additional":[243],"unlabeled":[244],"demonstrations.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}