{"id":"https://openalex.org/W2909752169","doi":"https://doi.org/10.1109/iros.2018.8593883","title":"Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails","display_name":"Virtual-to-Real-World Transfer Learning for Robots on Wilderness Trails","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909752169","doi":"https://doi.org/10.1109/iros.2018.8593883","mag":"2909752169"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1901.05599","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030257576","display_name":"Michael L. Iuzzolino","orcid":"https://orcid.org/0009-0006-6445-736X"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael L. Iuzzolino","raw_affiliation_strings":["Department of Computer Science, University of Colorado, Boulder"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado, Boulder","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041342730","display_name":"Michael E. Walker","orcid":"https://orcid.org/0000-0002-9304-7881"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael E. Walker","raw_affiliation_strings":["Department of Computer Science, University of Colorado, Boulder"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado, Boulder","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024581242","display_name":"Daniel Szaf\u0131r","orcid":"https://orcid.org/0000-0003-1848-7884"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Szafir","raw_affiliation_strings":["Department of Computer Science, University of Colorado, Boulder"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado, Boulder","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030257576"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.8509,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.79959891,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"576","last_page":"582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9991999864578247,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9991999864578247,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9976000189781189,"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":0.7409129738807678},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.6722415685653687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.662732720375061},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6149395108222961},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5960795879364014},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5587601065635681},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5272820591926575},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35134193301200867}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7409129738807678},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.6722415685653687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.662732720375061},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6149395108222961},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5960795879364014},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5587601065635681},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5272820591926575},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35134193301200867}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1901.05599","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.05599","pdf_url":"https://arxiv.org/pdf/1901.05599","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1901.05599","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.05599","pdf_url":"https://arxiv.org/pdf/1901.05599","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/13","display_name":"Climate action","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W581956982","https://openalex.org/W1522301498","https://openalex.org/W1924770834","https://openalex.org/W1969506886","https://openalex.org/W2016316334","https://openalex.org/W2064675550","https://openalex.org/W2095705004","https://openalex.org/W2117539524","https://openalex.org/W2149933564","https://openalex.org/W2171867670","https://openalex.org/W2296673577","https://openalex.org/W2631994842","https://openalex.org/W2963428623","https://openalex.org/W2964121744","https://openalex.org/W4299518610","https://openalex.org/W6616837769","https://openalex.org/W6674330103","https://openalex.org/W6682132143"],"related_works":["https://openalex.org/W4206357785","https://openalex.org/W4281381188","https://openalex.org/W3192840557","https://openalex.org/W2951211570","https://openalex.org/W4375928479","https://openalex.org/W3167935049","https://openalex.org/W3023427754","https://openalex.org/W3131673289","https://openalex.org/W4393011546","https://openalex.org/W3198847674"],"abstract_inverted_index":{"Robots":[0],"hold":[1],"promise":[2],"in":[3,81,129,162,189],"many":[4,82],"scenarios":[5],"involving":[6],"outdoor":[7,28],"use,":[8],"such":[9],"as":[10,85],"search-and-rescue,":[11],"wildlife":[12],"management,":[13],"and":[14,21,71,96,209],"collecting":[15],"data":[16,136,181,208],"to":[17,38,60,91,106,122,147,197],"improve":[18],"environment,":[19],"climate,":[20],"weather":[22,93],"forecasting.":[23],"However,":[24],"autonomous":[25],"navigation":[26],"of":[27,66,117,126,152,155,176,193,213],"trails":[29],"remains":[30],"a":[31,61,115,127,149,194],"challenging":[32],"problem.":[33],"Recent":[34],"work":[35],"has":[36,48],"sought":[37],"address":[39,107],"this":[40,46,100,108],"issue":[41,109],"using":[42,114],"deep":[43,53,118],"learning.":[44,216],"Although":[45],"approach":[47,105,133,161],"achieved":[49],"state-of-the-art":[50],"results,":[51],"the":[52,124,145,156,190,211],"learning":[54,113,119],"paradigm":[55],"may":[56,75,88],"be":[57,77],"limited":[58],"due":[59,90],"reliance":[62],"on":[63,178,205],"large":[64,150],"amounts":[65],"annotated":[67],"training":[68,73],"data.":[69],"Collecting":[70],"curating":[72],"datasets":[74],"not":[76],"feasible":[78],"or":[79],"practical":[80],"situations,":[83],"especially":[84],"trail":[86,128,207],"conditions":[87],"change":[89],"seasonal":[92],"variations,":[94],"storms,":[95],"natural":[97],"erosion.":[98],"In":[99],"paper,":[101],"we":[102,167,184,201],"explore":[103],"an":[104,130],"through":[110],"virtual-to-real-world":[111,214],"transfer":[112,215],"variety":[116],"models":[120,171,188,204],"trained":[121],"classify":[123],"direction":[125],"image.":[131],"Our":[132],"utilizes":[134],"synthetic":[135,180],"gathered":[137],"from":[138],"virtual":[139],"environments":[140],"for":[141],"model":[142],"training,":[143],"bypassing":[144],"need":[146],"collect":[148],"amount":[151],"real":[153],"images":[154],"outdoors.":[157],"We":[158],"validate":[159],"our":[160,170,179,186,203],"three":[163],"main":[164],"ways.":[165],"First,":[166],"demonstrate":[168,198,210],"that":[169],"achieve":[172],"classification":[173,187],"accuracies":[174],"upwards":[175],"95%":[177],"set.":[182],"Next,":[183],"utilize":[185],"control":[191],"system":[192],"simulated":[195],"robot":[196],"feasibility.":[199],"Finally,":[200],"evaluate":[202],"real-world":[206],"potential":[212]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}