{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T17:34:48Z","timestamp":1777570488720,"version":"3.51.4"},"publisher-location":"New York, NY, USA","reference-count":43,"publisher":"ACM","license":[{"start":{"date-parts":[[2023,10,26]],"date-time":"2023-10-26T00:00:00Z","timestamp":1698278400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"the National Science Fund of China","award":["62106106"],"award-info":[{"award-number":["62106106"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2023,10,26]]},"DOI":"10.1145\/3581783.3612100","type":"proceedings-article","created":{"date-parts":[[2023,10,27]],"date-time":"2023-10-27T07:26:54Z","timestamp":1698391614000},"page":"6785-6793","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":10,"title":["Implicit Obstacle Map-driven Indoor Navigation Model for Robust Obstacle Avoidance"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8263-9868","authenticated-orcid":false,"given":"Wei","family":"Xie","sequence":"first","affiliation":[{"name":"Nanjing University of Science and Technology, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4536-5252","authenticated-orcid":false,"given":"Haobo","family":"Jiang","sequence":"additional","affiliation":[{"name":"Nanjing University of Science and Technology, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4511-0815","authenticated-orcid":false,"given":"Shuo","family":"Gu","sequence":"additional","affiliation":[{"name":"Nanjing University of Science and Technology, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6978-8834","authenticated-orcid":false,"given":"Jin","family":"Xie","sequence":"additional","affiliation":[{"name":"Nanjing University of Science and Technology, Nanjing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2023,10,27]]},"reference":[{"key":"e_1_3_2_2_1_1","volume-title":"Alexey Dosovitskiy, Saurabh Gupta, Vladlen Koltun, Jana Kosecka, Jitendra Malik, Roozbeh Mottaghi, Manolis Savva, et al.","author":"Anderson Peter","year":"2018","unstructured":"Peter Anderson, Angel Chang, Devendra Singh Chaplot, Alexey Dosovitskiy, Saurabh Gupta, Vladlen Koltun, Jana Kosecka, Jitendra Malik, Roozbeh Mottaghi, Manolis Savva, et al. 2018. On evaluation of embodied navigation agents. arXiv preprint arXiv:1807.06757 (2018)."},{"key":"e_1_3_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-66823-5_24"},{"key":"e_1_3_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58452-8_13"},{"key":"e_1_3_2_2_4_1","volume-title":"International Conference on Learning Representations.","author":"Chaplot Devendra Singh","year":"2019","unstructured":"Devendra Singh Chaplot, Dhiraj Gandhi, Saurabh Gupta, Abhinav Gupta, and Ruslan Salakhutdinov. 2019. Learning to explore using active neural SLAM. In International Conference on Learning Representations."},{"key":"e_1_3_2_2_5_1","volume-title":"Abhinav Gupta, and Russ R Salakhutdinov.","author":"Chaplot Devendra Singh","year":"2020","unstructured":"Devendra Singh Chaplot, Dhiraj Prakashchand Gandhi, Abhinav Gupta, and Russ R Salakhutdinov. 2020. Object goal navigation using goal-oriented semantic exploration. Advances in neural information processing systems 33 (2020), 4247--4258."},{"key":"e_1_3_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/3503161.3547852"},{"key":"e_1_3_2_2_7_1","volume-title":"Search for or Navigate to? Dual Adaptive Thinking for Object Navigation. arXiv preprint arXiv:2208.00553","author":"Dang Ronghao","year":"2022","unstructured":"Ronghao Dang, Liuyi Wang, Zongtao He, Shuai Su, Chengju Liu, and Qijun Chen. 2022. Search for or Navigate to? Dual Adaptive Thinking for Object Navigation. arXiv preprint arXiv:2208.00553 (2022)."},{"key":"e_1_3_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00323"},{"key":"e_1_3_2_2_9_1","volume-title":"Learning Object Relation Graph and Tentative Policy for Visual Navigation. In European Conference on Computer Vision.","author":"Du H","year":"2020","unstructured":"H Du, X Yu, and L Zheng. 2020. Learning Object Relation Graph and Tentative Policy for Visual Navigation. In European Conference on Computer Vision."},{"key":"e_1_3_2_2_10_1","volume-title":"International Conference on Learning Representations.","author":"Du Heming","year":"2020","unstructured":"Heming Du, Xin Yu, and Liang Zheng. 2020. VTNet: Visual transformer network for object goal navigation. In International Conference on Learning Representations."},{"key":"e_1_3_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00063"},{"key":"e_1_3_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812027"},{"key":"e_1_3_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01443"},{"key":"e_1_3_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.322"},{"key":"e_1_3_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.90"},{"key":"e_1_3_2_2_16_1","volume-title":"Long short-term memory. Neural computation 9, 8","author":"Hochreiter Sepp","year":"1997","unstructured":"Sepp Hochreiter and Jurgen Schmidhuber. 1997. Long short-term memory. Neural computation 9, 8 (1997), 1735--1780."},{"key":"e_1_3_2_2_17_1","volume-title":"Agent-centric relation graph for object visual navigation. arXiv preprint arXiv:2111.14422","author":"Hu Xiaobo","year":"2021","unstructured":"Xiaobo Hu, Zhihao Wu, Kai Lv, Shuo Wang, and Youfang Lin. 2021. Agent-centric relation graph for object visual navigation. arXiv preprint arXiv:2111.14422 (2021)."},{"key":"e_1_3_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2019.8803025"},{"key":"e_1_3_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/2047196.2047270"},{"key":"e_1_3_2_2_20_1","volume-title":"Rednet: Residual encoder-decoder network for indoor RGB-D semantic segmentation. arXiv preprint arXiv:1806.01054","author":"Jiang Jindong","year":"2018","unstructured":"Jindong Jiang, Lunan Zheng, Fei Luo, and Zhijun Zhang. 2018. Rednet: Residual encoder-decoder network for indoor RGB-D semantic segmentation. arXiv preprint arXiv:1806.01054 (2018)."},{"key":"e_1_3_2_2_21_1","unstructured":"Eric Kolve Roozbeh Mottaghi Winson Han Eli VanderBilt Luca Weihs Alvaro Herrasti Matt Deitke Kiana Ehsani Daniel Gordon Yuke Zhu et al. 2017. Ai2-thor: An interactive 3D environment for visual ai. arXiv preprint arXiv:1712.05474 (2017)."},{"key":"e_1_3_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/3474085.3475575"},{"key":"e_1_3_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560925"},{"key":"e_1_3_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981646"},{"key":"e_1_3_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01509"},{"key":"e_1_3_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01662"},{"key":"e_1_3_2_2_27_1","volume-title":"International Conference on Machine Learning. 1928--1937","author":"Mnih Volodymyr","year":"2016","unstructured":"Volodymyr Mnih, Adria Puigdomenech Badia, Mehdi Mirza, Alex Graves, Timothy Lillicrap, Tim Harley, David Silver, and Koray Kavukcuoglu. 2016. Asynchronous methods for deep reinforcement learning. In International Conference on Machine Learning. 1928--1937."},{"key":"e_1_3_2_2_28_1","doi-asserted-by":"crossref","unstructured":"Volodymyr Mnih Koray Kavukcuoglu David Silver Andrei A Rusu Joel Veness Marc G Bellemare Alex Graves Martin Riedmiller Andreas K Fidjeland Georg Ostrovski et al. 2015. Human-level control through deep reinforcement learning. nature 518 7540 (2015) 529--533.","DOI":"10.1038\/nature14236"},{"key":"e_1_3_2_2_29_1","volume-title":"Conference on Robot Learning. 517--528","author":"Pal Anwesan","year":"2021","unstructured":"Anwesan Pal, Yiding Qiu, and Henrik Christensen. 2021. Learning hierarchical relationships for object-goal navigation. In Conference on Robot Learning. 517--528."},{"key":"e_1_3_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01832"},{"key":"e_1_3_2_2_31_1","volume-title":"International Conference on Learning Representations.","author":"Savinov Nikolay","year":"2018","unstructured":"Nikolay Savinov, Alexey Dosovitskiy, and Vladlen Koltun. 2018. Semiparametric topological memory for navigation. In International Conference on Learning Representations."},{"key":"e_1_3_2_2_32_1","volume-title":"Proximal policy optimization algorithms. arXiv preprint arXiv:1707.06347","author":"Schulman John","year":"2017","unstructured":"John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov. 2017. Proximal policy optimization algorithms. arXiv preprint arXiv:1707.06347 (2017)."},{"key":"e_1_3_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.93.4.1591"},{"key":"e_1_3_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-007-0107-3"},{"key":"e_1_3_2_2_35_1","volume-title":"Attention is all you need. Advances in neural information processing systems 30","author":"Vaswani Ashish","year":"2017","unstructured":"Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Lukasz Kaiser, and Illia Polosukhin. 2017. Attention is all you need. Advances in neural information processing systems 30 (2017)."},{"key":"e_1_3_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00691"},{"key":"e_1_3_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00286"},{"key":"e_1_3_2_2_38_1","volume-title":"Visual semantic navigation using scene priors. arXiv preprint arXiv:1810.06543","author":"Yang Wei","year":"2018","unstructured":"Wei Yang, Xiaolong Wang, Ali Farhadi, Abhinav Gupta, and Roozbeh Mottaghi. 2018. Visual semantic navigation using scene priors. arXiv preprint arXiv:1810.06543 (2018)."},{"key":"e_1_3_2_2_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01388"},{"key":"e_1_3_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-19842-7_18"},{"key":"e_1_3_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01485"},{"key":"e_1_3_2_2_42_1","volume-title":"International Conference on Learning Representations.","author":"Zhu Guangxiang","year":"2019","unstructured":"Guangxiang Zhu, Zichuan Lin, Guangwen Yang, and Chongjie Zhang. 2019. Episodic reinforcement learning with associative memory. In International Conference on Learning Representations."},{"key":"e_1_3_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989381"}],"event":{"name":"MM '23: The 31st ACM International Conference on Multimedia","location":"Ottawa ON Canada","acronym":"MM '23","sponsor":["SIGMM ACM Special Interest Group on Multimedia"]},"container-title":["Proceedings of the 31st ACM International Conference on Multimedia"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3581783.3612100","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3581783.3612100","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,22]],"date-time":"2025-08-22T00:01:49Z","timestamp":1755820909000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3581783.3612100"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10,26]]},"references-count":43,"alternative-id":["10.1145\/3581783.3612100","10.1145\/3581783"],"URL":"https:\/\/doi.org\/10.1145\/3581783.3612100","relation":{},"subject":[],"published":{"date-parts":[[2023,10,26]]},"assertion":[{"value":"2023-10-27","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}