{"id":"https://openalex.org/W3161620530","doi":"https://doi.org/10.1109/icra48506.2021.9561097","title":"Efficient Self-Supervised Data Collection for Offline Robot Learning","display_name":"Efficient Self-Supervised Data Collection for Offline Robot Learning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3161620530","doi":"https://doi.org/10.1109/icra48506.2021.9561097","mag":"3161620530"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561097","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.04607","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079894071","display_name":"Shadi Endrawis","orcid":null},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Shadi Endrawis","raw_affiliation_strings":["Technion – Israel Institute of Technology","Technion-Israel Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Technion – Israel Institute of Technology","institution_ids":["https://openalex.org/I174306211"]},{"raw_affiliation_string":"Technion-Israel Institute of Technology","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059321255","display_name":"Gal Leibovich","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gal Leibovich","raw_affiliation_strings":["Intel Labs","intel labs"],"affiliations":[{"raw_affiliation_string":"Intel Labs","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"intel labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110808832","display_name":"Guy Jacob","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guy Jacob","raw_affiliation_strings":["Intel Labs","intel labs"],"affiliations":[{"raw_affiliation_string":"Intel Labs","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"intel labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023367765","display_name":"Gal Novik","orcid":null},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gal Novik","raw_affiliation_strings":["Intel Labs","intel labs"],"affiliations":[{"raw_affiliation_string":"Intel Labs","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"intel labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020699288","display_name":"Aviv Tamar","orcid":"https://orcid.org/0000-0002-1972-854X"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Aviv Tamar","raw_affiliation_strings":["Technion – Israel Institute of Technology","Technion-Israel Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Technion – Israel Institute of Technology","institution_ids":["https://openalex.org/I174306211"]},{"raw_affiliation_string":"Technion-Israel Institute of Technology","institution_ids":["https://openalex.org/I174306211"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5079894071"],"corresponding_institution_ids":["https://openalex.org/I174306211"],"apc_list":null,"apc_paid":null,"fwci":0.1398,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.53200127,"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":"4650","last_page":"4656"},"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":0.9986000061035156,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9890999794006348,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.7825719118118286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7692955732345581},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.716905415058136},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.613473117351532},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.600206196308136},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5582206845283508},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5140472650527954},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5135255455970764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5052276253700256},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.4172248840332031},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3661358952522278},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09477853775024414}],"concepts":[{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.7825719118118286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7692955732345581},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.716905415058136},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.613473117351532},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.600206196308136},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5582206845283508},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5140472650527954},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5135255455970764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5052276253700256},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.4172248840332031},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3661358952522278},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09477853775024414},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561097","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"},{"id":"pmh:oai:arXiv.org:2105.04607","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.04607","pdf_url":"https://arxiv.org/pdf/2105.04607","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3161620530","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2105.04607v1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2105.04607","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2105.04607","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.04607","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.04607","pdf_url":"https://arxiv.org/pdf/2105.04607","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307102","display_name":"Intel Corporation","ror":"https://ror.org/01ek73717"},{"id":"https://openalex.org/F4320322252","display_name":"Israel Science Foundation","ror":"https://ror.org/04sazxf24"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3161620530.pdf"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W192920577","https://openalex.org/W567721252","https://openalex.org/W1977655452","https://openalex.org/W2000514530","https://openalex.org/W2145339207","https://openalex.org/W2188721763","https://openalex.org/W2489939061","https://openalex.org/W2528489519","https://openalex.org/W2596982695","https://openalex.org/W2744921630","https://openalex.org/W2751973545","https://openalex.org/W2787938642","https://openalex.org/W2904453761","https://openalex.org/W2914261249","https://openalex.org/W2944512428","https://openalex.org/W2949682451","https://openalex.org/W2963092423","https://openalex.org/W2963276097","https://openalex.org/W2963484919","https://openalex.org/W2963523627","https://openalex.org/W2964001908","https://openalex.org/W2964067469","https://openalex.org/W2964083594","https://openalex.org/W2964112890","https://openalex.org/W2964161785","https://openalex.org/W2966271811","https://openalex.org/W3022566517","https://openalex.org/W3088304681","https://openalex.org/W3206040568","https://openalex.org/W6616173779","https://openalex.org/W6650587873","https://openalex.org/W6682849425","https://openalex.org/W6717230150","https://openalex.org/W6720501231","https://openalex.org/W6735033012","https://openalex.org/W6740801417","https://openalex.org/W6742667875","https://openalex.org/W6748839928","https://openalex.org/W6753243525","https://openalex.org/W6753925943","https://openalex.org/W6756303580","https://openalex.org/W6757469721","https://openalex.org/W6758978475","https://openalex.org/W6764190503","https://openalex.org/W6776438516","https://openalex.org/W6782766965","https://openalex.org/W6802279543"],"related_works":["https://openalex.org/W3206150681","https://openalex.org/W3199185513","https://openalex.org/W3091086138","https://openalex.org/W3197318324","https://openalex.org/W3154938165","https://openalex.org/W3150177537","https://openalex.org/W2976087063","https://openalex.org/W3004815632","https://openalex.org/W2529658650","https://openalex.org/W2937206389","https://openalex.org/W3110682054","https://openalex.org/W2761977277","https://openalex.org/W2209580443","https://openalex.org/W3206200647","https://openalex.org/W2963293881","https://openalex.org/W2898525034","https://openalex.org/W2032740574","https://openalex.org/W3111393852","https://openalex.org/W3006125903","https://openalex.org/W3172303261"],"abstract_inverted_index":{"A":[0],"practical":[1],"approach":[2],"to":[3,8,32,80,116,165],"robot":[4,18,148],"reinforcement":[5],"learning":[6,38,171],"is":[7,95],"first":[9],"collect":[10,117],"a":[11,82,124,139],"large":[12],"batch":[13],"of":[14,160],"real":[15],"or":[16],"simulated":[17,147],"interaction":[19],"data,":[20],"using":[21,36],"some":[22],"data":[23,31,47,67,83,93,108,132,162],"collection":[24,48,84,109,133,163],"policy,":[25,49],"and":[26,50,91,154],"then":[27],"learn":[28],"from":[29],"this":[30,103],"perform":[33],"various":[34],"tasks,":[35,74],"offline":[37],"algorithms.":[39],"Previous":[40],"work":[41],"focused":[42],"on":[43,51,134,146],"manually":[44],"designing":[45],"the":[46,88,99,114,157,169],"tasks":[52,150],"where":[53],"suitable":[54],"policies":[55,64,110],"can":[56],"easily":[57],"be":[58,78],"designed,":[59],"such":[60],"as":[61],"random":[62],"picking":[63],"for":[65,98],"collecting":[66,138],"about":[68],"object":[69],"grasping.":[70],"For":[71],"more":[72],"complex":[73],"however,":[75],"it":[76],"may":[77],"difficult":[79],"find":[81],"policy":[85],"that":[86,94,107,129,156],"explores":[87],"environment":[89,115],"effectively,":[90],"produces":[92],"diverse":[96,118,140],"enough":[97],"downstream":[100,170],"task.":[101],"In":[102,120],"work,":[104],"we":[105,122],"propose":[106],"should":[111],"actively":[112,130],"explore":[113],"data.":[119],"particular,":[121],"develop":[123],"simple-yet-effective":[125],"goal-conditioned":[126],"reinforcement-learning":[127],"method":[128,145],"focuses":[131],"novel":[135],"observations,":[136],"thereby":[137],"data-set.":[141],"We":[142],"evaluate":[143],"our":[144],"manipulation":[149],"with":[151],"visual":[152],"inputs":[153],"show":[155],"improved":[158],"diversity":[159],"active":[161],"leads":[164],"significant":[166],"improvements":[167],"in":[168],"tasks.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}