{"id":"https://openalex.org/W4401416392","doi":"https://doi.org/10.1109/icra57147.2024.10610284","title":"Overparametrization helps offline-to-online generalization of closed-loop control from pixels","display_name":"Overparametrization helps offline-to-online generalization of closed-loop control from pixels","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416392","doi":"https://doi.org/10.1109/icra57147.2024.10610284"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610284","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5036588940","display_name":"Mathias Lechner","orcid":"https://orcid.org/0000-0002-6117-0076"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mathias Lechner","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT)","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025684214","display_name":"Ramin Hasani","orcid":"https://orcid.org/0000-0002-9889-5222"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ramin Hasani","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT)","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010146439","display_name":"Alexander Amini","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Amini","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT)","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079756022","display_name":"Tsun-Hsuan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tsun-Hsuan Wang","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT)","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080555605","display_name":"Thomas A. Henzinger","orcid":"https://orcid.org/0000-0002-2985-7724"},"institutions":[{"id":"https://openalex.org/I157556583","display_name":"Institute of Science and Technology Austria","ror":"https://ror.org/03gnh5541","country_code":"AT","type":"education","lineage":["https://openalex.org/I157556583"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Thomas A. Henzinger","raw_affiliation_strings":["Institute of Science and Technology Austria (IST Austria)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science and Technology Austria (IST Austria)","institution_ids":["https://openalex.org/I157556583"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT)","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"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":"34","issue":null,"first_page":"2774","last_page":"2782"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9955999851226807,"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/T10052","display_name":"Medical Image Segmentation Techniques","score":0.9955999851226807,"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T12859","display_name":"Cell Image Analysis Techniques","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1304","display_name":"Biophysics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.7424184083938599},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.656021773815155},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.600634753704071},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.5065490007400513},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4612369239330292},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4609658420085907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42251163721084595},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35680991411209106},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20155847072601318},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.1741912066936493},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11172080039978027},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.054236918687820435}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7424184083938599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.656021773815155},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.600634753704071},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.5065490007400513},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4612369239330292},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4609658420085907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42251163721084595},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35680991411209106},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20155847072601318},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.1741912066936493},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11172080039978027},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.054236918687820435},{"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/icra57147.2024.10610284","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610284","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332467","display_name":"U.S. Air Force","ror":"https://ror.org/006gmme17"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":119,"referenced_works":["https://openalex.org/W197865394","https://openalex.org/W398859631","https://openalex.org/W569478347","https://openalex.org/W1522301498","https://openalex.org/W1731081199","https://openalex.org/W2095705004","https://openalex.org/W2131953535","https://openalex.org/W2144513243","https://openalex.org/W2145339207","https://openalex.org/W2147800946","https://openalex.org/W2150468603","https://openalex.org/W2166302491","https://openalex.org/W2194775991","https://openalex.org/W2593768305","https://openalex.org/W2601322194","https://openalex.org/W2603777577","https://openalex.org/W2671811403","https://openalex.org/W2683470288","https://openalex.org/W2898525034","https://openalex.org/W2902311438","https://openalex.org/W2908510526","https://openalex.org/W2912083425","https://openalex.org/W2963163009","https://openalex.org/W2963277051","https://openalex.org/W2963350032","https://openalex.org/W2966208741","https://openalex.org/W2968352263","https://openalex.org/W2970019270","https://openalex.org/W2977242774","https://openalex.org/W2999862950","https://openalex.org/W3033597970","https://openalex.org/W3033739625","https://openalex.org/W3034429256","https://openalex.org/W3090132620","https://openalex.org/W3094502228","https://openalex.org/W3096541186","https://openalex.org/W3097841467","https://openalex.org/W3138516171","https://openalex.org/W3157506437","https://openalex.org/W3162090017","https://openalex.org/W3164024107","https://openalex.org/W3169291081","https://openalex.org/W3171353004","https://openalex.org/W3172248255","https://openalex.org/W3176662521","https://openalex.org/W3176716813","https://openalex.org/W3177096435","https://openalex.org/W3177934633","https://openalex.org/W3184258323","https://openalex.org/W3207730978","https://openalex.org/W3213847610","https://openalex.org/W3214243459","https://openalex.org/W3215048956","https://openalex.org/W3217139610","https://openalex.org/W4214519690","https://openalex.org/W4225789914","https://openalex.org/W4226434736","https://openalex.org/W4249244053","https://openalex.org/W4281688309","https://openalex.org/W4285102517","https://openalex.org/W4285661751","https://openalex.org/W4287022992","https://openalex.org/W4288287305","https://openalex.org/W4297941019","https://openalex.org/W4312443924","https://openalex.org/W4321151009","https://openalex.org/W4385245566","https://openalex.org/W4396631035","https://openalex.org/W6631190155","https://openalex.org/W6637618735","https://openalex.org/W6638667902","https://openalex.org/W6640174482","https://openalex.org/W6674330103","https://openalex.org/W6675999342","https://openalex.org/W6680724558","https://openalex.org/W6681151457","https://openalex.org/W6683124652","https://openalex.org/W6718092244","https://openalex.org/W6718795669","https://openalex.org/W6735944222","https://openalex.org/W6741832191","https://openalex.org/W6743636021","https://openalex.org/W6745891213","https://openalex.org/W6748972340","https://openalex.org/W6755748847","https://openalex.org/W6756444276","https://openalex.org/W6757712578","https://openalex.org/W6757817989","https://openalex.org/W6759312711","https://openalex.org/W6762718338","https://openalex.org/W6765285020","https://openalex.org/W6768501859","https://openalex.org/W6774630179","https://openalex.org/W6778918719","https://openalex.org/W6779472268","https://openalex.org/W6780226713","https://openalex.org/W6784247468","https://openalex.org/W6784826119","https://openalex.org/W6791645657","https://openalex.org/W6793164127","https://openalex.org/W6795140394","https://openalex.org/W6795475546","https://openalex.org/W6795861741","https://openalex.org/W6796176593","https://openalex.org/W6796289742","https://openalex.org/W6796417832","https://openalex.org/W6797031096","https://openalex.org/W6798247092","https://openalex.org/W6800217721","https://openalex.org/W6803444062","https://openalex.org/W6803813760","https://openalex.org/W6804579389","https://openalex.org/W6804601995","https://openalex.org/W6809904121","https://openalex.org/W6810514480","https://openalex.org/W6810970779","https://openalex.org/W6811014117","https://openalex.org/W6838071232","https://openalex.org/W6843735039"],"related_works":["https://openalex.org/W24774503","https://openalex.org/W3162204513","https://openalex.org/W2014821076","https://openalex.org/W2371138613","https://openalex.org/W4206659689","https://openalex.org/W2322335058","https://openalex.org/W2259382430","https://openalex.org/W2397460850","https://openalex.org/W4322484979","https://openalex.org/W2612895087"],"abstract_inverted_index":{"There":[0],"is":[1,69,89,161],"an":[2],"ever-growing":[3],"zoo":[4],"of":[5,96,117,170,173],"modern":[6],"neural":[7],"network":[8,88],"models":[9,50,192],"that":[10,68,136,159,182],"can":[11],"efficiently":[12],"learn":[13],"end-to-end":[14],"control":[15,94],"from":[16,24,29],"visual":[17],"observations.":[18],"These":[19],"advanced":[20],"deep":[21],"models,":[22],"ranging":[23],"convolutional":[25],"to":[26,31,53,57,91,130],"Vision":[27],"Transformers,":[28],"small":[30],"gigantic":[32],"networks,":[33],"have":[34],"been":[35],"extensively":[36],"tested":[37],"on":[38,147],"offline":[39,118],"image":[40],"classification":[41],"tasks.":[42],"In":[43,99,154],"this":[44,100],"paper,":[45],"we":[46,134,186],"study":[47],"these":[48],"vision":[49,142],"with":[51,115],"respect":[52],"the":[54,93,110,151,162,171,174,180,184],"open-loop":[55],"training":[56,119,139],"closed-loop":[58,167],"generalization":[59,168],"abilities,":[60],"i.e.,":[61],"deployment":[62],"realizes":[63],"a":[64,87,97],"causal":[65],"feedback":[66],"loop":[67],"not":[70],"present":[71],"during":[72],"training.":[73],"This":[74],"causality":[75,152],"gap":[76],"typically":[77],"emerges":[78],"in":[79,165,183,195,200],"robotics":[80],"applications":[81],"such":[82],"as":[83],"autonomous":[84],"driving,":[85],"where":[86,109],"trained":[90],"imitate":[92],"commands":[95],"human.":[98],"setting,":[101],"two":[102],"situations":[103],"arise:":[104],"1)":[105],"Closed-loop":[106,122],"testing":[107,123],"in-distribution,":[108],"test":[111],"environment":[112],"shares":[113],"properties":[114],"those":[116],"data.":[120],"2)":[121],"under":[124,137],"distribution":[125],"shifts":[126],"and":[127,190],"out-of-distribution.":[128],"Contrary":[129],"recently":[131],"reported":[132],"results,":[133],"show":[135],"proper":[138],"guidelines,":[140],"all":[141],"architectures":[143],"perform":[144],"indistinguishably":[145],"well":[146],"in-distribution":[148],"deployment,":[149],"resolving":[150],"gap.":[153],"situation":[155],"2,":[156],"We":[157],"observe":[158],"scale":[160],"strongest":[163],"factor":[164],"improving":[166],"regardless":[169],"choice":[172],"model":[175],"architecture.":[176],"Our":[177],"results":[178],"predict":[179],"trend":[181],"future":[185],"will":[187],"see":[188],"larger":[189,191],"being":[193],"used":[194],"offline-training-online-deployment":[196],"imitation":[197],"learning":[198],"tasks":[199],"robotic":[201],"applications.":[202]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
