{"id":"https://openalex.org/W3207591725","doi":"https://doi.org/10.1109/icra48506.2021.9562091","title":"Auto-Tuned Sim-to-Real Transfer","display_name":"Auto-Tuned Sim-to-Real Transfer","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207591725","doi":"https://doi.org/10.1109/icra48506.2021.9562091","mag":"3207591725"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562091","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":"article","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/A5100352494","display_name":"Yuqing Du","orcid":"https://orcid.org/0000-0002-9147-656X"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yuqing Du","raw_affiliation_strings":["UC Berkeley"],"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058976886","display_name":"Olivia Watkins","orcid":"https://orcid.org/0000-0003-3054-0385"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Olivia Watkins","raw_affiliation_strings":["UC Berkeley"],"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029105520","display_name":"Trevor Darrell","orcid":"https://orcid.org/0000-0001-5453-8533"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Trevor Darrell","raw_affiliation_strings":["UC Berkeley"],"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["UC Berkeley"],"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101851026","display_name":"Deepak Pathak","orcid":"https://orcid.org/0000-0003-2496-0690"},"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":"Deepak Pathak","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100352494"],"corresponding_institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":3.8427,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.94901961,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1290","last_page":"1296"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9988999962806702,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9988999962806702,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9976999759674072,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9948999881744385,"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/computer-science","display_name":"Computer science","score":0.7614068388938904},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.574552595615387},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45681464672088623},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4315687417984009},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43036922812461853},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.41487640142440796},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.380041241645813},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09116283059120178}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7614068388938904},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.574552595615387},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45681464672088623},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4315687417984009},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43036922812461853},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.41487640142440796},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.380041241645813},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09116283059120178},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9562091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562091","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1481659984","https://openalex.org/W1965324089","https://openalex.org/W2605102758","https://openalex.org/W2766614170","https://openalex.org/W2781585732","https://openalex.org/W2781726626","https://openalex.org/W2885163910","https://openalex.org/W2950420147","https://openalex.org/W2962736495","https://openalex.org/W2963184939","https://openalex.org/W2963504951","https://openalex.org/W2963614114","https://openalex.org/W2964198579","https://openalex.org/W2968116426","https://openalex.org/W2981030070","https://openalex.org/W2981252211","https://openalex.org/W2990747716","https://openalex.org/W2998115938","https://openalex.org/W3005501487","https://openalex.org/W3015437096","https://openalex.org/W3021708257","https://openalex.org/W3039737909","https://openalex.org/W3091471537","https://openalex.org/W3093922502","https://openalex.org/W3101442004","https://openalex.org/W3104876774","https://openalex.org/W3109585842","https://openalex.org/W3114446492","https://openalex.org/W3115293622","https://openalex.org/W4297686387","https://openalex.org/W6637618735","https://openalex.org/W6697071109","https://openalex.org/W6745744936","https://openalex.org/W6747387971","https://openalex.org/W6747473740","https://openalex.org/W6752818329","https://openalex.org/W6755561334","https://openalex.org/W6769169610","https://openalex.org/W6776867236","https://openalex.org/W6841112233","https://openalex.org/W6966558720"],"related_works":["https://openalex.org/W2140798747","https://openalex.org/W2948169060","https://openalex.org/W2730112582","https://openalex.org/W2358580169","https://openalex.org/W2111347279","https://openalex.org/W2110696645","https://openalex.org/W2487211728","https://openalex.org/W2378096925","https://openalex.org/W2152844235","https://openalex.org/W2376454312"],"abstract_inverted_index":{"Policies":[0],"trained":[1],"in":[2,57,185],"simulation":[3,127],"often":[4],"fail":[5],"when":[6],"transferred":[7],"to":[8,13,22,36,49,53,59,66,85,102,112,130,172],"the":[9,14,18,25,31,87,96,100,114,126,132,160,168,174],"real":[10,32,88,97,133],"world":[11,89,98,134],"due":[12],"‘reality":[15],"gap’":[16],"where":[17,122],"simulator":[19,82],"is":[20,64,111],"unable":[21],"accurately":[23],"capture":[24],"dynamics":[26],"and":[27,47,150,152,188],"visual":[28],"properties":[29],"of":[30,95,116,148,155],"world.":[33],"Current":[34],"approaches":[35],"tackle":[37],"this":[38],"problem,":[39],"such":[40],"as":[41,118],"domain":[42,196],"randomization,":[43],"require":[44],"prior":[45],"knowledge":[46],"engineering":[48],"determine":[50],"how":[51],"much":[52],"randomize":[54],"system":[55,83,128,135,156],"parameters":[56,84,117,129,162,170],"order":[58],"learn":[60],"a":[61,77,119,139,146,153],"policy":[62],"that":[63],"robust":[65],"sim-to-real":[67,189],"transfer":[68],"while":[69],"also":[70],"not":[71],"being":[72],"too":[73],"conservative.":[74],"We":[75,137,176],"propose":[76,138],"method":[78,179],"for":[79],"automatically":[80],"tuning":[81],"match":[86],"using":[90],"only":[91],"raw":[92],"RGB":[93],"images":[94],"without":[99],"need":[101],"define":[103],"rewards":[104],"or":[105,165],"estimate":[106],"state.":[107],"Our":[108],"key":[109],"insight":[110],"reframe":[113],"auto-tuning":[115],"search":[120],"problem":[121],"we":[123],"iteratively":[124],"shift":[125],"approach":[131],"parameters.":[136],"Search":[140],"Param":[141],"Model":[142],"(SPM)":[143],"that,":[144],"given":[145,161],"sequence":[147],"observations":[149],"actions":[151],"set":[154],"parameters,":[157],"predicts":[158],"whether":[159],"are":[163],"higher":[164],"lower":[166],"than":[167],"true":[169],"used":[171],"generate":[173],"observations.":[175],"evaluate":[177],"our":[178],"on":[180],"multiple":[181],"robotic":[182],"control":[183],"tasks":[184],"both":[186],"sim-to-sim":[187],"transfer,":[190],"demonstrating":[191],"significant":[192],"improvement":[193],"over":[194],"naive":[195],"randomization.":[197],"Project":[198],"videos":[199],"at":[200],"https://yuqingd.github.io/autotuned-sim2real/.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":1}],"updated_date":"2026-01-15T23:16:33.117629","created_date":"2025-10-10T00:00:00"}