{"id":"W4416750341","doi":"10.1109/iros60139.2025.11246744","title":"Focus Bug: Learning Environmental Awareness for Efficient Mapless Navigation","year":2025,"lang":"","type":"article","venue":"","topic":"Robotics and Sensor-Based Localization","field":"Engineering","cited_by":0,"is_retracted":false,"has_abstract":true,"ca_institutions":"Polytechnique Montréal","funders":"Mitacs","keywords":"Reinforcement learning; Focus (optics); Robustness (evolution); Drone; Robot; Deep learning; Situation awareness","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0003673597,0.0007981152,0.0005476053,0.0003365502,0.0002512052,0.0004480411,0.001508835,0.0007320051,0.001593812],"category_scores_gemma":[0.001623586,0.0004227909,0.0003658109,0.0002083077,0.0005831331,0.001028156,0.001334062,0.0009354852,0.0004909683],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0003745149,"about_ca_system_score_gemma":0.0008111,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.003596243,"about_ca_topic_score_gemma":0.004099995,"domain_scores_codex":[0.9998071,0.00002623114,0.000006912721,0.00006253183,0.00006488202,0.00003247672],"domain_scores_gemma":[0.9996606,0.000128428,0.00004608647,0.00006697745,0.00006849689,0.00002931475],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0002637156,0.0001664756,0.002450411,0.0001513901,0.000102102,0.0001503271,0.0001843855,0.527141,0.03641649,0.007422781,0.008942284,0.4166087],"study_design_scores_gemma":[0.00002962185,0.000078149,0.0002568661,0.000007860822,0.000009809689,0.00004057288,0.00001185456,0.9919406,0.004021577,0.002419552,0.001174414,0.000009110594],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.02937541,0.0002658749,0.9637336,0.0001176107,0.00005663779,0.00003815805,0.00005658801,0.005051245,0.001304823],"genre_scores_gemma":[0.6998448,0.0001451071,0.2958297,0.0002926982,0.00004720935,0.0001351304,0.0002784896,0.0004098919,0.003016955],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.003596243,"threshold_uncertainty_score":0.00715065,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.007736790468575042,"score_gpt":0.2273036073657149,"score_spread":0.2195668168971399,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}