{"id":"https://openalex.org/W3206285858","doi":"https://doi.org/10.1109/icra48506.2021.9561056","title":"A Few Shot Adaptation of Visual Navigation Skills to New Observations using Meta-Learning","display_name":"A Few Shot Adaptation of Visual Navigation Skills to New Observations using Meta-Learning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206285858","doi":"https://doi.org/10.1109/icra48506.2021.9561056","mag":"3206285858"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561056","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101035164","display_name":"Qian Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qian Luo","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004209594","display_name":"Maks Sorokin","orcid":"https://orcid.org/0000-0001-5994-0046"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maks Sorokin","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064581452","display_name":"Sehoon Ha","orcid":"https://orcid.org/0000-0002-1972-328X"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sehoon Ha","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA","Robotics at Google, Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Robotics at Google, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6684,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79188758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"13231","last_page":"13237"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9983999729156494,"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":0.9983999729156494,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983000159263611,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/computer-science","display_name":"Computer science","score":0.778617262840271},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6756349802017212},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6501367092132568},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5807400941848755},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5567511916160583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5162322521209717},{"id":"https://openalex.org/keywords/meta-learning","display_name":"Meta learning (computer science)","score":0.4704517424106598},{"id":"https://openalex.org/keywords/hyperparameter","display_name":"Hyperparameter","score":0.4390120804309845},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.411271333694458},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4105234146118164},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3850160241127014},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11233946681022644},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.1016024649143219}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.778617262840271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6756349802017212},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6501367092132568},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5807400941848755},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5567511916160583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5162322521209717},{"id":"https://openalex.org/C2781002164","wikidata":"https://www.wikidata.org/wiki/Q6822311","display_name":"Meta learning (computer science)","level":3,"score":0.4704517424106598},{"id":"https://openalex.org/C8642999","wikidata":"https://www.wikidata.org/wiki/Q4171168","display_name":"Hyperparameter","level":2,"score":0.4390120804309845},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.411271333694458},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4105234146118164},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3850160241127014},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11233946681022644},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.1016024649143219},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561056","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W2064675550","https://openalex.org/W2127578024","https://openalex.org/W2567015638","https://openalex.org/W2604763608","https://openalex.org/W2605102758","https://openalex.org/W2736601468","https://openalex.org/W2772390515","https://openalex.org/W2794268423","https://openalex.org/W2883574738","https://openalex.org/W2884565639","https://openalex.org/W2937521543","https://openalex.org/W2949929714","https://openalex.org/W2952526277","https://openalex.org/W2953127211","https://openalex.org/W2962732398","https://openalex.org/W2962789679","https://openalex.org/W2962887844","https://openalex.org/W2962957005","https://openalex.org/W2963403868","https://openalex.org/W2963645756","https://openalex.org/W2964112702","https://openalex.org/W2967853831","https://openalex.org/W2967975754","https://openalex.org/W2981836239","https://openalex.org/W2992306696","https://openalex.org/W2998903229","https://openalex.org/W3001975179","https://openalex.org/W3004691725","https://openalex.org/W3009928773","https://openalex.org/W3011144238","https://openalex.org/W3029795912","https://openalex.org/W3034549794","https://openalex.org/W3040041096","https://openalex.org/W3102804550","https://openalex.org/W3192162805","https://openalex.org/W4214717370","https://openalex.org/W4294646197","https://openalex.org/W4297728751","https://openalex.org/W4297795161","https://openalex.org/W4385245566","https://openalex.org/W6731094094","https://openalex.org/W6731334075","https://openalex.org/W6736057607","https://openalex.org/W6739901393","https://openalex.org/W6741002519","https://openalex.org/W6746408764","https://openalex.org/W6750254146","https://openalex.org/W6753311412","https://openalex.org/W6753516098","https://openalex.org/W6760036574","https://openalex.org/W6760698134","https://openalex.org/W6761460876","https://openalex.org/W6771326545","https://openalex.org/W6773029903","https://openalex.org/W6774815639","https://openalex.org/W6780443396"],"related_works":["https://openalex.org/W4281847915","https://openalex.org/W3097663225","https://openalex.org/W2946605054","https://openalex.org/W98577079","https://openalex.org/W4301772239","https://openalex.org/W2948164010","https://openalex.org/W4297800546","https://openalex.org/W3130669838","https://openalex.org/W2785397462","https://openalex.org/W4294873804"],"abstract_inverted_index":{"Target-driven":[0],"visual":[1,17],"navigation":[2,52,130],"is":[3,39],"a":[4,9,51,55,59,64,69,77,92,97],"challenging":[5,70],"problem":[6],"that":[7,80,124],"requires":[8],"robot":[10,57],"to":[11,46,84],"find":[12],"the":[13,111,118,128,150],"goal":[14],"using":[15,25],"only":[16,133],"inputs.":[18],"Many":[19],"researchers":[20],"have":[21],"demonstrated":[22],"promising":[23],"results":[24],"deep":[26],"reinforcement":[27],"learning":[28,38,50,78],"(deep":[29],"RL)":[30],"on":[31],"various":[32,155],"robotic":[33],"platforms,":[34],"but":[35],"typical":[36],"end-to-end":[37],"known":[40],"for":[41,54,136],"its":[42],"poor":[43],"extrapolation":[44],"capability":[45],"new":[47,56,60,65,85],"scenarios.":[48],"Therefore,":[49],"policy":[53,98,131],"with":[58,91,100,132,139],"sensor":[61,86,141],"configuration":[62],"or":[63,88,143],"target":[66,89,145],"still":[67],"remains":[68],"problem.":[71],"In":[72],"this":[73],"paper,":[74],"we":[75],"introduce":[76],"algorithm":[79,126,152],"enables":[81],"rapid":[82],"adaptation":[83],"configurations":[87,142],"objects":[90],"few":[93],"shots.":[94],"We":[95,147],"design":[96],"architecture":[99],"latent":[101],"features":[102],"between":[103],"perception":[104,112],"and":[105,108],"inference":[106,119],"networks":[107],"quickly":[109],"adapt":[110],"network":[113],"via":[114],"meta-learning":[115],"while":[116],"freezing":[117],"network.":[120],"Our":[121],"experiments":[122],"show":[123],"our":[125],"adapts":[127],"learned":[129],"three":[134],"shots":[135],"unseen":[137],"situations":[138],"different":[140,144],"colors.":[146],"also":[148],"analyze":[149],"proposed":[151],"by":[153],"investigating":[154],"hyperparameters.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
