{"id":"https://openalex.org/W4401415714","doi":"https://doi.org/10.1109/icra57147.2024.10610569","title":"Domain Adaptation of Visual Policies with a Single Demonstration","display_name":"Domain Adaptation of Visual Policies with a Single Demonstration","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415714","doi":"https://doi.org/10.1109/icra57147.2024.10610569"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610569","doi":"https://doi.org/10.1109/icra57147.2024.10610569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610569","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"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/A5029113819","display_name":"Weiyao Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weiyao Wang","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041383246","display_name":"Gregory D. Hager","orcid":"https://orcid.org/0000-0002-6662-9763","observed_orcids":["https://orcid.org/0000-0002-6662-9763"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory D. Hager","raw_affiliation_strings":["Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Computer Science,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":0.2239,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.41889449,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"17208","last_page":"17215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7314000129699707,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7314000129699707,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.2581000030040741,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.009200000204145908,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/domain-adaptation","display_name":"domain adaptation","score":0.9810000061988831},{"id":"https://openalex.org/keywords/visuomotor-policies","display_name":"visuomotor policies","score":0.9160000085830688},{"id":"https://openalex.org/keywords/in-context-learning","display_name":"in-context learning","score":0.7879999876022339},{"id":"https://openalex.org/keywords/domain-randomization","display_name":"domain randomization","score":0.6179999709129333},{"id":"https://openalex.org/keywords/sim-to-real-transfer","display_name":"sim-to-real transfer","score":0.7250000238418579},{"id":"https://openalex.org/keywords/robot-control","display_name":"robot control","score":0.46799999475479126}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.716968297958374},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6589539051055908},{"id":"https://openalex.org/C2776434776","wikidata":"https://www.wikidata.org/wiki/Q19246213","display_name":"Domain adaptation","level":3,"score":0.6523497700691223},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5480417013168335},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3520318865776062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21733427047729492},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09012141823768616},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.06379470229148865},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610569","doi":"https://doi.org/10.1109/icra57147.2024.10610569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610569","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1731081199","https://openalex.org/W1931877416","https://openalex.org/W2158782408","https://openalex.org/W2174786457","https://openalex.org/W2210483910","https://openalex.org/W2434014514","https://openalex.org/W2584377191","https://openalex.org/W2593768305","https://openalex.org/W2604763608","https://openalex.org/W2605102758","https://openalex.org/W2626778328","https://openalex.org/W2781585732","https://openalex.org/W2810785043","https://openalex.org/W2904246096","https://openalex.org/W2923504512","https://openalex.org/W2963094133","https://openalex.org/W2963614114","https://openalex.org/W2979869797","https://openalex.org/W2980730703","https://openalex.org/W2991420892","https://openalex.org/W2994073215","https://openalex.org/W3023640063","https://openalex.org/W3034942609","https://openalex.org/W3035756007","https://openalex.org/W3041404693","https://openalex.org/W3088310808","https://openalex.org/W3093922502","https://openalex.org/W3098108114","https://openalex.org/W3118861865","https://openalex.org/W3130568950","https://openalex.org/W3133087405","https://openalex.org/W3163842339","https://openalex.org/W3171649327","https://openalex.org/W3175254947","https://openalex.org/W3185341429","https://openalex.org/W3193576605","https://openalex.org/W3203489455","https://openalex.org/W3205321526","https://openalex.org/W3206394619","https://openalex.org/W3208451383","https://openalex.org/W3210566171","https://openalex.org/W3211390425","https://openalex.org/W3212637808","https://openalex.org/W4205430897","https://openalex.org/W4226454809","https://openalex.org/W4283701713","https://openalex.org/W4285021310","https://openalex.org/W4296395373","https://openalex.org/W4383108222","https://openalex.org/W4412687571","https://openalex.org/W6804532865","https://openalex.org/W6811899649","https://openalex.org/W7093511686","https://openalex.org/W7133212814","https://openalex.org/W7133224126"],"related_works":["https://openalex.org/W2174364281","https://openalex.org/W7155042504","https://openalex.org/W3177473017","https://openalex.org/W2617317556","https://openalex.org/W3090943552","https://openalex.org/W4402706460","https://openalex.org/W2963184124","https://openalex.org/W3132286970","https://openalex.org/W7127363256","https://openalex.org/W4405933855"],"abstract_inverted_index":{"Deploying":[0],"machine":[1],"learning":[2],"algorithms":[3],"for":[4,29,134],"robot":[5],"tasks":[6],"in":[7,86,148,178],"real-world":[8,152],"applications":[9],"presents":[10],"a":[11,92,100,138,158,167,171],"core":[12],"challenge:":[13],"overcoming":[14],"the":[15,19,22,61,64,69,79,83,87,111,120],"domain":[16,55,80,140,174],"gap":[17],"between":[18],"training":[20,65],"and":[21,151,182,186],"deployment":[23],"environment.":[24,114],"This":[25],"is":[26,53,75,142,157],"particularly":[27,38],"difficult":[28],"visuomotor":[30],"policies":[31],"that":[32,108,141,155,162],"utilize":[33],"high-dimensional":[34],"images":[35,41],"as":[36],"input,":[37],"when":[39,78],"those":[40],"are":[42],"generated":[43],"via":[44],"simulation.":[45],"A":[46],"common":[47],"method":[48],"to":[49,59,67,105,110,124,128,137],"tackle":[50],"this":[51,73],"issue":[52],"through":[54],"randomization,":[56],"which":[57],"aims":[58],"broaden":[60],"span":[62],"of":[63,99,173],"distribution":[66],"cover":[68],"test-time":[70,88],"distribution.":[71,89],"However,":[72],"approach":[74],"only":[76],"effective":[77],"randomization":[81],"encompasses":[82],"actual":[84],"shifts":[85],"We":[90],"take":[91],"different":[93],"approach,":[94],"where":[95],"we":[96],"make":[97],"use":[98],"single":[101],"demonstration":[102],"(a":[103],"prompt)":[104],"learn":[106,129],"policy":[107,161],"adapts":[109],"testing":[112],"target":[113,139],"Our":[115,146],"proposed":[116],"framework,":[117],"PromptAdapt,":[118],"leverages":[119],"Transformer":[121],"architecture\u2019s":[122],"capacity":[123],"model":[125],"sequential":[126],"data":[127],"demonstration-conditioned":[130],"visual":[131],"policies,":[132],"allowing":[133],"in-context":[135],"adaptation":[136],"distinct":[143],"from":[144],"training.":[145],"experiments":[147],"both":[149],"simulation":[150],"settings":[153],"show":[154],"PromptAdapt":[156],"strong":[159],"domain-adapting":[160],"outperforms":[163],"baseline":[164],"methods":[165],"by":[166],"large":[168],"margin":[169],"under":[170],"range":[172],"shifts,":[175],"including":[176],"variations":[177],"lighting,":[179],"color,":[180],"texture,":[181],"camera":[183],"pose.":[184],"Videos":[185],"more":[187],"information":[188],"can":[189],"be":[190],"viewed":[191],"at":[192],"project":[193],"webpage:":[194],"https://sites.google.com/view/promptadapt.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2024-08-09T00:00:00"}