{"id":"https://openalex.org/W3136932486","doi":"https://doi.org/10.1109/icra48506.2021.9561527","title":"Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization","display_name":"Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3136932486","doi":"https://doi.org/10.1109/icra48506.2021.9561527","mag":"3136932486"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561527","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/2103.11144","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021404609","display_name":"Carmel Rabinovitz","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":false,"raw_author_name":"Carmel Rabinovitz","raw_affiliation_strings":["Department of Electrical Engineering, Technion, Israel","Technion-Israel Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Technion, Israel","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/A5040427637","display_name":"Niko A. Grupen","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"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["IL","US"],"is_corresponding":false,"raw_author_name":"Niko Grupen","raw_affiliation_strings":["Department of Computer Science, Cornell University, NY, USA","Technion-Israel Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Technion-Israel Institute of Technology","institution_ids":["https://openalex.org/I174306211"]}]},{"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"]},{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["IL","US"],"is_corresponding":false,"raw_author_name":"Aviv Tamar","raw_affiliation_strings":["Department of Electrical Engineering, Technion, Israel","cornell University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Technion, Israel","institution_ids":["https://openalex.org/I174306211"]},{"raw_affiliation_string":"cornell University","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03557657,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9998000264167786,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9998000264167786,"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":0.9958999752998352,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9832000136375427,"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":0.7741042971611023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7006420493125916},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5412703156471252},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.5104376673698425},{"id":"https://openalex.org/keywords/unsupervised-learning","display_name":"Unsupervised learning","score":0.4839327931404114},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4577994644641876},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.45361095666885376},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3968958556652069},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37868234515190125},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35809260606765747},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11850181221961975}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7741042971611023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7006420493125916},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5412703156471252},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.5104376673698425},{"id":"https://openalex.org/C8038995","wikidata":"https://www.wikidata.org/wiki/Q1152135","display_name":"Unsupervised learning","level":2,"score":0.4839327931404114},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4577994644641876},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.45361095666885376},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3968958556652069},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37868234515190125},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35809260606765747},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11850181221961975},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra48506.2021.9561527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561527","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:2103.11144","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.11144","pdf_url":"https://arxiv.org/pdf/2103.11144","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3136932486","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2103.11144.pdf","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.2103.11144","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.11144","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:3210591764","is_oa":false,"landing_page_url":"https://openreview.net/forum?id=fMv5UPmT30W","pdf_url":null,"source":{"id":"https://openalex.org/S4306419637","display_name":"International Conference on Learning Representations","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":null,"is_accepted":false,"is_published":null,"raw_source_name":"International Conference on Learning Representations","raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.11144","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.11144","pdf_url":"https://arxiv.org/pdf/2103.11144","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322252","display_name":"Israel Science Foundation","ror":"https://ror.org/04sazxf24"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3136932486.pdf"},"referenced_works_count":63,"referenced_works":["https://openalex.org/W1982696459","https://openalex.org/W1999874108","https://openalex.org/W2047643928","https://openalex.org/W2108598243","https://openalex.org/W2138621090","https://openalex.org/W2194775991","https://openalex.org/W2201912979","https://openalex.org/W2205975260","https://openalex.org/W2591697182","https://openalex.org/W2605102758","https://openalex.org/W2786808285","https://openalex.org/W2789411136","https://openalex.org/W2808844346","https://openalex.org/W2809910521","https://openalex.org/W2842511635","https://openalex.org/W2883471708","https://openalex.org/W2902125520","https://openalex.org/W2938421504","https://openalex.org/W2944828972","https://openalex.org/W2949517790","https://openalex.org/W2953494151","https://openalex.org/W2962736495","https://openalex.org/W2962871243","https://openalex.org/W2962957005","https://openalex.org/W2963226019","https://openalex.org/W2963402657","https://openalex.org/W2964161785","https://openalex.org/W2964214518","https://openalex.org/W2964263543","https://openalex.org/W2966271811","https://openalex.org/W2967681060","https://openalex.org/W2973049979","https://openalex.org/W2998340141","https://openalex.org/W3005680577","https://openalex.org/W3009561768","https://openalex.org/W3012514211","https://openalex.org/W3028676366","https://openalex.org/W3034781633","https://openalex.org/W3035524453","https://openalex.org/W3036982689","https://openalex.org/W3040955294","https://openalex.org/W3101442004","https://openalex.org/W6682849425","https://openalex.org/W6712884540","https://openalex.org/W6718140377","https://openalex.org/W6731094094","https://openalex.org/W6734065107","https://openalex.org/W6739585900","https://openalex.org/W6752752797","https://openalex.org/W6752818329","https://openalex.org/W6753611882","https://openalex.org/W6756908582","https://openalex.org/W6763442200","https://openalex.org/W6765285020","https://openalex.org/W6769609827","https://openalex.org/W6772069813","https://openalex.org/W6774314701","https://openalex.org/W6774670964","https://openalex.org/W6774733536","https://openalex.org/W6779977557","https://openalex.org/W6780759785","https://openalex.org/W6844194202","https://openalex.org/W6966558720"],"related_works":["https://openalex.org/W3160257316","https://openalex.org/W2950341389","https://openalex.org/W3013160170","https://openalex.org/W3101639353","https://openalex.org/W3133082600","https://openalex.org/W9770290","https://openalex.org/W2740338697","https://openalex.org/W2909085487","https://openalex.org/W2948467580","https://openalex.org/W2754695199","https://openalex.org/W2979289616","https://openalex.org/W2951851780","https://openalex.org/W3169447391","https://openalex.org/W2163282847","https://openalex.org/W3010035902","https://openalex.org/W2104854090","https://openalex.org/W2981452981","https://openalex.org/W3173329083","https://openalex.org/W3204828454","https://openalex.org/W2073493176"],"abstract_inverted_index":{"Robotic":[0],"tasks":[1],"such":[2,33,104],"as":[3,105,132,189],"manipulation":[4],"with":[5],"visual":[6,62,102,148,173,186],"inputs":[7,63],"require":[8],"image":[9],"features":[10,34,96,141,179],"that":[11,47,97,115,165,180],"capture":[12],"the":[13,17,20,44,68,86,133,140,144,156,163,169],"physical":[14,49,56,178],"properties":[15,50,103],"of":[16,24,119,155,172],"scene,":[18],"e.g.,":[19],"position":[21],"and":[22,58,142,146,195],"configuration":[23],"objects.":[25,197],"Recently,":[26],"it":[27],"has":[28],"been":[29],"suggested":[30,93],"to":[31,67,100,121,159,185],"learn":[32],"in":[35],"an":[36],"unsupervised":[37,122],"manner":[38],"from":[39,61],"simulated,":[40],"self-supervised,":[41],"robot":[42],"interaction;":[43],"idea":[45],"being":[46],"high-level":[48],"are":[51,98,181],"well":[52,66],"captured":[53],"by":[54],"modern":[55],"simulators,":[57],"their":[59],"representation":[60],"may":[64],"transfer":[65],"real":[69],"world.":[70],"In":[71,109],"particular,":[72],"learning":[73,95,123],"methods":[74],"based":[75,124],"on":[76,125],"noise":[77],"contrastive":[78,126,157],"estimation":[79,127],"have":[80],"shown":[81],"promising":[82],"results.":[83],"To":[84],"robustify":[85],"simulation-to-real":[87],"transfer,":[88],"domain":[89,187],"randomization":[90,171],"(DR)":[91],"was":[92],"for":[94],"invariant":[99],"irrelevant":[101,147],"textures":[106],"or":[107],"lighting.":[108],"this":[110],"work,":[111],"however,":[112],"we":[113,166,190],"show":[114],"a":[116,152],"naive":[117],"application":[118],"DR":[120],"does":[128],"not":[129],"promote":[130],"invariance,":[131],"loss":[134,158],"function":[135],"maximizes":[136],"mutual":[137],"information":[138],"between":[139],"both":[143,193],"relevant":[145],"properties.":[149,174],"We":[150],"propose":[151],"simple":[153],"modification":[154],"fix":[160],"this,":[161],"exploiting":[162],"fact":[164],"can":[167],"control":[168],"simulated":[170],"Our":[175],"approach":[176],"learns":[177],"significantly":[182],"more":[183],"robust":[184],"variation,":[188],"demonstrate":[191],"using":[192],"rigid":[194],"non-rigid":[196]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}