{"id":"https://openalex.org/W3144236244","doi":"https://doi.org/10.1109/icra48506.2021.9561439","title":"Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies","display_name":"Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3144236244","doi":"https://doi.org/10.1109/icra48506.2021.9561439","mag":"3144236244"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561439","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/2103.16772","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041499985","display_name":"Timothy E. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tabitha E. Lee","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052240301","display_name":"Jialiang Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jialiang Alan Zhao","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15123"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15123","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091350285","display_name":"Amrita S. Sawhney","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amrita S. Sawhney","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15123"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15123","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058703168","display_name":"Siddharth Girdhar","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddharth Girdhar","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15123"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15123","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005091065","display_name":"Oliver Kroemer","orcid":"https://orcid.org/0000-0003-2007-3867"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oliver Kroemer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15123"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15123","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1399,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.52741764,"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":"4776","last_page":"4782"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9968000054359436,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9958000183105469,"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/computer-science","display_name":"Computer science","score":0.6929502487182617},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.5416020154953003},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5252974629402161},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5250461101531982},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5215306282043457},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5040239691734314},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32495445013046265},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11346527934074402},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10275822877883911}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6929502487182617},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.5416020154953003},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5252974629402161},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5250461101531982},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5215306282043457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5040239691734314},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32495445013046265},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11346527934074402},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10275822877883911},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561439","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:2103.16772","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.16772","pdf_url":"https://arxiv.org/pdf/2103.16772","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":null,"raw_type":"text"},{"id":"mag:3144236244","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2103.16772","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.2103.16772","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.16772","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:2103.16772","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.16772","pdf_url":"https://arxiv.org/pdf/2103.16772","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":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320316514","display_name":"Arm","ror":"https://ror.org/04mmhzs81"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3144236244.pdf","grobid_xml":"https://content.openalex.org/works/W3144236244.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W1499669280","https://openalex.org/W2012587148","https://openalex.org/W2059100041","https://openalex.org/W2087400813","https://openalex.org/W2112264645","https://openalex.org/W2123979492","https://openalex.org/W2143891888","https://openalex.org/W2156737235","https://openalex.org/W2256420211","https://openalex.org/W2426267443","https://openalex.org/W2605102758","https://openalex.org/W2616287117","https://openalex.org/W2736601468","https://openalex.org/W2740396279","https://openalex.org/W2767050701","https://openalex.org/W2781935813","https://openalex.org/W2890208753","https://openalex.org/W2947630374","https://openalex.org/W2955035422","https://openalex.org/W2962899390","https://openalex.org/W2963097630","https://openalex.org/W2963184939","https://openalex.org/W2963312729","https://openalex.org/W2963504252","https://openalex.org/W2963614114","https://openalex.org/W2963616477","https://openalex.org/W2963629498","https://openalex.org/W2963689319","https://openalex.org/W2965757358","https://openalex.org/W2968116426","https://openalex.org/W2989897153","https://openalex.org/W2990408532","https://openalex.org/W3003669699","https://openalex.org/W3088310808","https://openalex.org/W3091948595","https://openalex.org/W3092373905","https://openalex.org/W3101442004","https://openalex.org/W3105320009","https://openalex.org/W3120778962","https://openalex.org/W3135588948","https://openalex.org/W3150570724","https://openalex.org/W4205513846","https://openalex.org/W6678818196","https://openalex.org/W6683195989","https://openalex.org/W6691861496","https://openalex.org/W6741002519","https://openalex.org/W6743923790","https://openalex.org/W6754184789","https://openalex.org/W6755437240","https://openalex.org/W6764969207","https://openalex.org/W6779634865","https://openalex.org/W6784188657","https://openalex.org/W6784313279","https://openalex.org/W6849896277"],"related_works":["https://openalex.org/W3206889352","https://openalex.org/W2963859851","https://openalex.org/W3105320065","https://openalex.org/W3033512869","https://openalex.org/W2883858163","https://openalex.org/W2951456741","https://openalex.org/W3131063630","https://openalex.org/W2996793228","https://openalex.org/W2121103318","https://openalex.org/W3126596751","https://openalex.org/W2890330494","https://openalex.org/W3156892312","https://openalex.org/W3034724428","https://openalex.org/W2918049070","https://openalex.org/W3089233077","https://openalex.org/W3138382767","https://openalex.org/W2902690953","https://openalex.org/W3100310560","https://openalex.org/W2990632298","https://openalex.org/W3008076766"],"abstract_inverted_index":{"We":[0,93,137],"present":[1],"CREST,":[2],"an":[3],"approach":[4,22],"for":[5,16,90,101,148],"causal":[6],"reasoning":[7],"in":[8,99],"simulation":[9,100],"to":[10,82,115,119,125,129],"learn":[11],"the":[12,40,43,65,72,83,87,149],"relevant":[13,56,73],"state":[14,44,135],"space":[15],"a":[17],"robot":[18],"manipulation":[19,104],"policy.":[20],"Our":[21,111],"conducts":[23],"interventions":[24,38],"using":[25,64],"internal":[26,66],"models,":[27],"which":[28],"are":[29,62,79,113],"simulations":[30],"with":[31,54,68,133],"approximate":[32],"dynamics":[33],"and":[34,45,108,127],"simplified":[35],"assumptions.":[36],"These":[37,60],"elicit":[39],"structure":[41],"between":[42],"action":[46],"spaces,":[47],"enabling":[48],"construction":[49],"of":[50,145],"neural":[51],"network":[52,77],"policies":[53,61,112,147],"only":[55],"states":[57],"as":[58],"input.":[59],"pretrained":[63],"model":[67],"domain":[69,85,120],"randomization":[70],"over":[71],"states.":[74],"The":[75],"policy":[76,96],"weights":[78],"then":[80],"transferred":[81],"target":[84],"(e.g.,":[86],"real":[88],"world)":[89],"fine":[91],"tuning.":[92],"perform":[94],"extensive":[95],"transfer":[97,144],"experiments":[98],"two":[102],"representative":[103],"tasks:":[105],"block":[106,150],"stacking":[107,151],"crate":[109],"opening.":[110],"shown":[114],"be":[116],"more":[117,122,130],"robust":[118],"shifts,":[121],"sample":[123],"efficient":[124],"learn,":[126],"scale":[128],"complex":[131],"settings":[132],"larger":[134],"spaces.":[136],"also":[138],"show":[139],"improved":[140],"zero-shot":[141],"sim-":[142],"to-real":[143],"our":[146],"task.":[152]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
