{"id":"https://openalex.org/W4413918540","doi":"https://doi.org/10.1109/icra55743.2025.11127492","title":"Effective Tuning Strategies for Generalist Robot Manipulation Policies","display_name":"Effective Tuning Strategies for Generalist Robot Manipulation Policies","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918540","doi":"https://doi.org/10.1109/icra55743.2025.11127492"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5073229663","display_name":"Wenbo Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Wenbo Zhang","raw_affiliation_strings":["University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100421480","display_name":"Yang Li","orcid":"https://orcid.org/0000-0002-3006-7420"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Yang Li","raw_affiliation_strings":["Commonwealth Scientific and Industrial Research Organisation (CSIRO)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Commonwealth Scientific and Industrial Research Organisation (CSIRO)","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049868894","display_name":"Yanyuan Qiao","orcid":"https://orcid.org/0000-0002-5606-0702"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Yanyuan Qiao","raw_affiliation_strings":["University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101529673","display_name":"Siyuan Huang","orcid":"https://orcid.org/0000-0002-1107-2312"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Huang","raw_affiliation_strings":["Shanghai Jiao Tong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661983","display_name":"Jiajun Liu","orcid":"https://orcid.org/0000-0002-9206-9835"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jiajun Liu","raw_affiliation_strings":["Commonwealth Scientific and Industrial Research Organisation (CSIRO)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Commonwealth Scientific and Industrial Research Organisation (CSIRO)","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091323624","display_name":"Feras Dayoub","orcid":"https://orcid.org/0000-0002-4234-7374"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Feras Dayoub","raw_affiliation_strings":["University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115597357","display_name":"Xiao Ma","orcid":"https://orcid.org/0000-0002-0261-0369"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao Ma","raw_affiliation_strings":["ByteDance Research"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ByteDance Research","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070976480","display_name":"Lingqiao Liu","orcid":"https://orcid.org/0000-0003-3584-795X"},"institutions":[{"id":"https://openalex.org/I5681781","display_name":"The University of Adelaide","ror":"https://ror.org/00892tw58","country_code":"AU","type":"education","lineage":["https://openalex.org/I5681781"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Lingqiao Liu","raw_affiliation_strings":["University of Adelaide"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Adelaide","institution_ids":["https://openalex.org/I5681781"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7255","last_page":"7262"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8788999915122986,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8788999915122986,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8137999773025513,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.7405999898910522,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/generalist-and-specialist-species","display_name":"Generalist and specialist species","score":0.8208268284797668},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6412343382835388},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5554608702659607},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3950197696685791},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35733556747436523}],"concepts":[{"id":"https://openalex.org/C45371612","wikidata":"https://www.wikidata.org/wiki/Q3058587","display_name":"Generalist and specialist species","level":3,"score":0.8208268284797668},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6412343382835388},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5554608702659607},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3950197696685791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35733556747436523},{"id":"https://openalex.org/C185933670","wikidata":"https://www.wikidata.org/wiki/Q52105","display_name":"Habitat","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":16,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W3007769740","https://openalex.org/W3009295642","https://openalex.org/W3041133507","https://openalex.org/W3090612618","https://openalex.org/W3094502228","https://openalex.org/W4385403811","https://openalex.org/W4385430674","https://openalex.org/W4385430679","https://openalex.org/W4399767118","https://openalex.org/W4402353985","https://openalex.org/W4402353989","https://openalex.org/W4402354041","https://openalex.org/W4402354093","https://openalex.org/W4402545715","https://openalex.org/W4402727783"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3135453479","https://openalex.org/W2306541987","https://openalex.org/W2947952289","https://openalex.org/W4322625948","https://openalex.org/W1986194836","https://openalex.org/W2896365120","https://openalex.org/W1986504168"],"abstract_inverted_index":{"Generalist":[0],"robot":[1],"manipulation":[2],"policies":[3,21],"(GMPs)":[4],"have":[5],"the":[6,30,65,68,76,94,104,112,135,165],"potential":[7],"to":[8,23,29,38,49,54,75,92],"generalize":[9],"across":[10],"a":[11,46,52,123,143,153,161,177],"wide":[12],"range":[13],"of":[14,33,67,79,96,114],"tasks,":[15],"devices,":[16],"and":[17,57,111,129,133],"environments.":[18],"However,":[19],"existing":[20],"continue":[22],"struggle":[24],"with":[25,59,73,156],"out-of-distribution":[26],"scenarios":[27],"due":[28],"inherent":[31],"difficulty":[32],"collecting":[34],"sufficient":[35],"action":[36,105],"data":[37],"cover":[39],"extensively":[40],"diverse":[41],"domains.":[42],"While":[43],"fine-tuning":[44,80,101,159],"offers":[45],"practical":[47,144],"way":[48],"quickly":[50],"adapt":[51],"GMPs":[53,70,100,147,162],"novel":[55],"domains":[56],"tasks":[58],"limited":[60],"samples,":[61],"we":[62,85,140],"observe":[63,150],"that":[64,151],"performance":[66],"resulting":[69],"differs":[71],"significantly":[72,163],"respect":[74],"design":[77,137],"choices":[78],"strategies.":[81],"In":[82],"this":[83,174],"work,":[84],"first":[86],"conduct":[87],"an":[88],"indepth":[89],"empirical":[90],"study":[91],"investigate":[93],"effect":[95],"key":[97,136],"factors":[98],"in":[99,152,173],"strategies,":[102,160],"covering":[103],"space,":[106],"policy":[107],"head,":[108],"supervision":[109],"signal":[110],"choice":[113],"tunable":[115],"parameters,":[116],"where":[117],"2,500":[118],"rollouts":[119],"are":[120],"evaluated":[121],"for":[122,146,180],"single":[124],"configuration.":[125],"We":[126,149],"systematically":[127],"discuss":[128],"summarize":[130],"our":[131],"findings":[132],"identify":[134],"choices,":[138],"which":[139],"believe":[141],"give":[142],"guideline":[145],"fine-tuning.":[148],"lowdata":[154],"regime,":[155],"carefully":[157],"chosen":[158],"outperforms":[164],"state-of-the-art":[166],"imitation":[167],"learning":[168],"algorithms.":[169],"The":[170],"results":[171],"presented":[172],"work":[175],"establish":[176],"new":[178],"baseline":[179],"future":[181],"studies":[182],"on":[183],"fine-tuned":[184],"GMPs.":[185]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}