{"id":"https://openalex.org/W4285102517","doi":"https://doi.org/10.1109/icra46639.2022.9811650","title":"Latent Imagination Facilitates Zero-Shot Transfer in Autonomous Racing","display_name":"Latent Imagination Facilitates Zero-Shot Transfer in Autonomous Racing","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102517","doi":"https://doi.org/10.1109/icra46639.2022.9811650"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811650","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":true,"oa_status":"green","oa_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9811650","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050460806","display_name":"Axel Brunnbauer","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Axel Brunnbauer","raw_affiliation_strings":["CPS, Technische Universit&#x00E1;t Wien (TU Wien),Austria"],"affiliations":[{"raw_affiliation_string":"CPS, Technische Universit&#x00E1;t Wien (TU Wien),Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060851540","display_name":"Luigi Berducci","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Luigi Berducci","raw_affiliation_strings":["CPS, Technische Universit&#x00E1;t Wien (TU Wien),Austria"],"affiliations":[{"raw_affiliation_string":"CPS, Technische Universit&#x00E1;t Wien (TU Wien),Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071728713","display_name":"Andreas Brandst\u00e4tter","orcid":"https://orcid.org/0000-0003-2820-4446"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Andreas Brandstatter","raw_affiliation_strings":["CPS, Technische Universit&#x00E1;t Wien (TU Wien),Austria"],"affiliations":[{"raw_affiliation_string":"CPS, Technische Universit&#x00E1;t Wien (TU Wien),Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036588940","display_name":"Mathias Lechner","orcid":"https://orcid.org/0000-0002-6117-0076"},"institutions":[{"id":"https://openalex.org/I157556583","display_name":"Institute of Science and Technology Austria","ror":"https://ror.org/03gnh5541","country_code":"AT","type":"education","lineage":["https://openalex.org/I157556583"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Mathias Lechner","raw_affiliation_strings":["Institute of Science and Technology Austria (IST Austria)"],"affiliations":[{"raw_affiliation_string":"Institute of Science and Technology Austria (IST Austria)","institution_ids":["https://openalex.org/I157556583"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025684214","display_name":"Ramin Hasani","orcid":"https://orcid.org/0000-0002-9889-5222"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ramin Hasani","raw_affiliation_strings":["CSAIL, Massachusetts Institute of Technology (MIT),MA,USA","CSAIL, Massachusetts Institute of Technology (MIT), MA, USA"],"affiliations":[{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology (MIT),MA,USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology (MIT), MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["CSAIL, Massachusetts Institute of Technology (MIT),MA,USA","CSAIL, Massachusetts Institute of Technology (MIT), MA, USA"],"affiliations":[{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology (MIT),MA,USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology (MIT), MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034362557","display_name":"Radu Grosu","orcid":"https://orcid.org/0000-0001-5715-2142"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Radu Grosu","raw_affiliation_strings":["CPS, Technische Universit&#x00E1;t Wien (TU Wien),Austria"],"affiliations":[{"raw_affiliation_string":"CPS, Technische Universit&#x00E1;t Wien (TU Wien),Austria","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5050460806"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":3.653,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.94376424,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7513","last_page":"7520"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9894000291824341,"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"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9854000210762024,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.7533445954322815},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7166845798492432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.697291374206543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6876500844955444},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6159296631813049},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5584786534309387},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5567147135734558},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.544642448425293},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5247305035591125},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.48623815178871155},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.419981986284256},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.41874033212661743},{"id":"https://openalex.org/keywords/sample-complexity","display_name":"Sample complexity","score":0.4140709638595581},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13721734285354614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10864028334617615}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7533445954322815},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7166845798492432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.697291374206543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6876500844955444},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6159296631813049},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5584786534309387},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5567147135734558},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.544642448425293},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5247305035591125},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.48623815178871155},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.419981986284256},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.41874033212661743},{"id":"https://openalex.org/C2778445095","wikidata":"https://www.wikidata.org/wiki/Q18354077","display_name":"Sample complexity","level":2,"score":0.4140709638595581},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13721734285354614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10864028334617615},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9811650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811650","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"},{"id":"pmh:oai:pub.research-explorer.ista.ac.at:12010","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9811650","pdf_url":null,"source":{"id":"https://openalex.org/S7407055285","display_name":"Institute of Science and Technology Austria","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Brunnbauer A, Berducci L, Brandstatter A, et al. Latent imagination facilitates zero-shot transfer in autonomous racing. In: <i>2022 International Conference on Robotics and Automation</i>. IEEE; 2022:7513-7520. doi:<a href=\"https://doi.org/10.1109/ICRA46639.2022.9811650\">10.1109/ICRA46639.2022.9811650</a>","raw_type":"http://purl.org/coar/resource_type/c_5794"}],"best_oa_location":{"id":"pmh:oai:pub.research-explorer.ista.ac.at:12010","is_oa":true,"landing_page_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9811650","pdf_url":null,"source":{"id":"https://openalex.org/S7407055285","display_name":"Institute of Science and Technology Austria","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Brunnbauer A, Berducci L, Brandstatter A, et al. Latent imagination facilitates zero-shot transfer in autonomous racing. In: <i>2022 International Conference on Robotics and Automation</i>. IEEE; 2022:7513-7520. doi:<a href=\"https://doi.org/10.1109/ICRA46639.2022.9811650\">10.1109/ICRA46639.2022.9811650</a>","raw_type":"http://purl.org/coar/resource_type/c_5794"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G223589181","display_name":null,"funder_award_id":"N00014-18-1-2830","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5248949799","display_name":null,"funder_award_id":"Z211-N23","funder_id":"https://openalex.org/F4320321181","funder_display_name":"Austrian Science Fund"}],"funders":[{"id":"https://openalex.org/F4320306077","display_name":"Boeing","ror":"https://ror.org/04sm5zn07"},{"id":"https://openalex.org/F4320321181","display_name":"Austrian Science Fund","ror":"https://ror.org/013tf3c58"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":79,"referenced_works":["https://openalex.org/W1931877416","https://openalex.org/W1963788580","https://openalex.org/W1980035368","https://openalex.org/W2013078419","https://openalex.org/W2041448245","https://openalex.org/W2064613911","https://openalex.org/W2064675550","https://openalex.org/W2118927982","https://openalex.org/W2140135625","https://openalex.org/W2144304287","https://openalex.org/W2162726844","https://openalex.org/W2166302491","https://openalex.org/W2736601468","https://openalex.org/W2738778707","https://openalex.org/W2767050701","https://openalex.org/W2781726626","https://openalex.org/W2785738552","https://openalex.org/W2798705390","https://openalex.org/W2869375357","https://openalex.org/W2877093712","https://openalex.org/W2890208753","https://openalex.org/W2907537824","https://openalex.org/W2938421504","https://openalex.org/W2954115742","https://openalex.org/W2962897394","https://openalex.org/W2963184939","https://openalex.org/W2963209464","https://openalex.org/W2964120017","https://openalex.org/W2968352263","https://openalex.org/W2968983352","https://openalex.org/W2977242774","https://openalex.org/W2995298643","https://openalex.org/W2999862950","https://openalex.org/W3020712699","https://openalex.org/W3033597970","https://openalex.org/W3033739625","https://openalex.org/W3034500979","https://openalex.org/W3046240082","https://openalex.org/W3047366950","https://openalex.org/W3088310808","https://openalex.org/W3090132620","https://openalex.org/W3091512219","https://openalex.org/W3092477133","https://openalex.org/W3096541186","https://openalex.org/W3101442004","https://openalex.org/W3120778962","https://openalex.org/W3122690883","https://openalex.org/W3129896193","https://openalex.org/W3132082252","https://openalex.org/W3132308129","https://openalex.org/W3132760324","https://openalex.org/W3135068795","https://openalex.org/W3135791089","https://openalex.org/W3172248255","https://openalex.org/W3176662521","https://openalex.org/W3207657697","https://openalex.org/W3207730978","https://openalex.org/W4225594292","https://openalex.org/W4287325598","https://openalex.org/W4289294484","https://openalex.org/W4298857966","https://openalex.org/W6637967152","https://openalex.org/W6640174482","https://openalex.org/W6680657880","https://openalex.org/W6747473740","https://openalex.org/W6747924173","https://openalex.org/W6754184789","https://openalex.org/W6756256016","https://openalex.org/W6759312711","https://openalex.org/W6771179988","https://openalex.org/W6771217966","https://openalex.org/W6778918719","https://openalex.org/W6779472268","https://openalex.org/W6783988234","https://openalex.org/W6790375019","https://openalex.org/W6791273953","https://openalex.org/W6797031096","https://openalex.org/W6798247092","https://openalex.org/W6803004859"],"related_works":["https://openalex.org/W2074502265","https://openalex.org/W4214877189","https://openalex.org/W2773965352","https://openalex.org/W2381179799","https://openalex.org/W2980279061","https://openalex.org/W2334685461","https://openalex.org/W2116157560","https://openalex.org/W2877093712","https://openalex.org/W4310614650","https://openalex.org/W4386738330"],"abstract_inverted_index":{"World":[0],"models":[1,22,163],"learn":[2],"behaviors":[3],"in":[4,41,102,117,170],"a":[5,76,88,93,99],"latent":[6],"imagination":[7,118],"space":[8],"to":[9,58,125],"enhance":[10],"the":[11,138,147,159],"sample-efficiency":[12],"of":[13,78,95,115,141,149,161],"deep":[14,67],"reinforcement":[15],"learning":[16,20,116],"(RL)":[17],"algorithms.":[18],"While":[19],"world":[21,162],"for":[23,81,158],"high-dimensional":[24,89],"observations":[25],"(e.g.,":[26],"pixel":[27],"inputs)":[28],"has":[29,45],"become":[30],"practicable":[31],"on":[32,92,146],"standard":[33],"RL":[34,68],"benchmarks":[35],"and":[36,132],"some":[37],"games,":[38],"their":[39,103,150],"effectiveness":[40,160],"real-world":[42,59],"robotics":[43],"applications":[44],"not":[46],"been":[47],"explored.":[48],"In":[49,71,105],"this":[50,106],"paper,":[51],"we":[52,73,109,135],"investigate":[53],"how":[54],"such":[55],"agents":[56,113,122,143],"generalize":[57],"autonomous":[60],"vehicle":[61],"control":[62],"tasks,":[63],"where":[64],"advanced":[65],"model-free":[66,121],"algorithms":[69],"fail.":[70],"particular,":[72],"set":[74,94],"up":[75],"series":[77],"time-lap":[79],"tasks":[80],"an":[82],"F1TENTH":[83],"racing":[84],"robot,":[85],"equipped":[86],"with":[87,98,123,165],"LiDAR":[90],"sensor,":[91],"test":[96],"tracks":[97],"gradual":[100],"increase":[101],"complexity.":[104],"continuous-control":[107],"setting,":[108],"show":[110,136],"that":[111,137],"model-based":[112,142],"capable":[114],"substantially":[119],"outperform":[120],"respect":[124],"performance,":[126],"sample":[127],"efficiency,":[128],"successful":[129],"task":[130],"completion,":[131],"generalization.":[133],"Moreover,":[134],"generalization":[139],"ability":[140],"strongly":[144],"depends":[145],"choice":[148],"observation":[151],"model.":[152],"We":[153],"provide":[154],"extensive":[155],"empirical":[156],"evidence":[157],"provided":[164],"long":[166],"enough":[167],"memory":[168],"horizons":[169],"sim2real":[171],"tasks.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
