{"id":"https://openalex.org/W4312539606","doi":"https://doi.org/10.1109/iros47612.2022.9981951","title":"Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks","display_name":"Analysis of Randomization Effects on Sim2Real Transfer in Reinforcement Learning for Robotic Manipulation Tasks","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312539606","doi":"https://doi.org/10.1109/iros47612.2022.9981951"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981951","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1663433","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009408366","display_name":"Josip Josifovski","orcid":"https://orcid.org/0000-0002-1031-7621"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Josip Josifovski","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany","Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059145424","display_name":"Mohammadhossein Malmir","orcid":"https://orcid.org/0000-0003-0610-7899"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohammadhossein Malmir","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany","Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027738586","display_name":"Noah Klarmann","orcid":"https://orcid.org/0009-0008-9157-9228"},"institutions":[{"id":"https://openalex.org/I4210142109","display_name":"Rosenheim Technical University of Applied Sciences","ror":"https://ror.org/03hbmgt12","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210142109"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Noah Klarmann","raw_affiliation_strings":["Rosenheim University of Applied Sciences,Rosenheim,Germany","Rosenheim University of Applied Sciences, Rosenheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rosenheim University of Applied Sciences,Rosenheim,Germany","institution_ids":["https://openalex.org/I4210142109"]},{"raw_affiliation_string":"Rosenheim University of Applied Sciences, Rosenheim, Germany","institution_ids":["https://openalex.org/I4210142109"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073952032","display_name":"Bare Luka \u017dagar","orcid":"https://orcid.org/0000-0001-5026-3368"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bare Luka \u017dagar","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany","Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040711005","display_name":"Nicol\u00e1s Navarro-Guerrero","orcid":"https://orcid.org/0000-0003-1164-5579"},"institutions":[{"id":"https://openalex.org/I2802442800","display_name":"Deutsches Forschungsnetz","ror":"https://ror.org/038t94116","country_code":"DE","type":"facility","lineage":["https://openalex.org/I2802442800"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nicol\u00e1s Navarro-Guerrero","raw_affiliation_strings":["Deutsches Forschungszentrum für Künstliche Intelligenz GmbH,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Deutsches Forschungszentrum für Künstliche Intelligenz GmbH,Germany","institution_ids":["https://openalex.org/I2802442800"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Technical University of Munich,Department of Informatics,Germany","Department of Informatics, Technical University of Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Department of Informatics,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Informatics, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5179,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.85520171,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10193","last_page":"10200"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","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/T10462","display_name":"Reinforcement Learning in Robotics","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":0.996399998664856,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9855999946594238,"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":0.7402433156967163},{"id":"https://openalex.org/keywords/randomization","display_name":"Randomization","score":0.7263354063034058},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6677634119987488},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.654197096824646},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6114093661308289},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6067173480987549},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5919238924980164},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.5765216946601868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5656579732894897},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4482359290122986},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4237526059150696},{"id":"https://openalex.org/keywords/randomized-controlled-trial","display_name":"Randomized controlled trial","score":0.1858716607093811},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08330550789833069}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7402433156967163},{"id":"https://openalex.org/C204243189","wikidata":"https://www.wikidata.org/wiki/Q1363085","display_name":"Randomization","level":3,"score":0.7263354063034058},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6677634119987488},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.654197096824646},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6114093661308289},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6067173480987549},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5919238924980164},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.5765216946601868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5656579732894897},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4482359290122986},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4237526059150696},{"id":"https://openalex.org/C168563851","wikidata":"https://www.wikidata.org/wiki/Q1436668","display_name":"Randomized controlled trial","level":2,"score":0.1858716607093811},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08330550789833069},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981951","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1663433","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1663433","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1663433","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1663433","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7774680702","display_name":null,"funder_award_id":"826060","funder_id":"https://openalex.org/F4320327207","funder_display_name":"Electronic Components and Systems for European Leadership"}],"funders":[{"id":"https://openalex.org/F4320327207","display_name":"Electronic Components and Systems for European Leadership","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W31984690","https://openalex.org/W1481659984","https://openalex.org/W1978161072","https://openalex.org/W2152328382","https://openalex.org/W2158782408","https://openalex.org/W2257979135","https://openalex.org/W2308085711","https://openalex.org/W2503967141","https://openalex.org/W2521863123","https://openalex.org/W2581251857","https://openalex.org/W2602871544","https://openalex.org/W2605102758","https://openalex.org/W2736601468","https://openalex.org/W2767050701","https://openalex.org/W2908739874","https://openalex.org/W2952629144","https://openalex.org/W2962736495","https://openalex.org/W2963184939","https://openalex.org/W2963390419","https://openalex.org/W2973525135","https://openalex.org/W2981030070","https://openalex.org/W2981344907","https://openalex.org/W3049043369","https://openalex.org/W3088310808","https://openalex.org/W3099763198","https://openalex.org/W3101442004","https://openalex.org/W3120778962","https://openalex.org/W3132082252","https://openalex.org/W3194738614","https://openalex.org/W3212380917","https://openalex.org/W3213974477","https://openalex.org/W4298857966","https://openalex.org/W6637967152","https://openalex.org/W6698535809","https://openalex.org/W6726908607","https://openalex.org/W6728925229","https://openalex.org/W6767919266","https://openalex.org/W6769596995","https://openalex.org/W6800004206","https://openalex.org/W6800170019","https://openalex.org/W6986964704"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W2024136090","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W2964765435","https://openalex.org/W1508899372"],"abstract_inverted_index":{"Randomization":[0],"is":[1],"currently":[2],"a":[3,23,30,55,64,82,107],"widely":[4],"used":[5],"approach":[6],"in":[7,14,78,92,110],"Sim2Real":[8,18,93],"transfer":[9],"for":[10,22,54,66],"data-driven":[11],"learning":[12],"algorithms":[13],"robotics.":[15],"Still,":[16],"most":[17],"studies":[19],"report":[20],"results":[21,86,119],"specific":[24],"randomization":[25,41,71,90],"technique":[26],"and":[27,80,115,120],"often":[28],"on":[29,81],"highly":[31],"customized":[32],"robotic":[33,56],"system,":[34],"making":[35],"it":[36,96],"difficult":[37],"to":[38,105,123],"evaluate":[39],"different":[40],"approaches":[42,130],"systematically.":[43],"To":[44],"address":[45],"this":[46],"problem,":[47],"we":[48],"define":[49],"an":[50],"easy-to-reproduce":[51],"experimental":[52],"setup":[53],"reach-and-balance":[57],"manipulator":[58],"task,":[59],"which":[60],"can":[61,97],"serve":[62],"as":[63],"benchmark":[65],"comparison.":[67],"We":[68],"compare":[69],"four":[70],"strategies":[72],"with":[73],"three":[74],"randomized":[75,113],"parameters":[76],"both":[77],"simulation":[79],"real":[83,125],"robot.":[84],"Our":[85],"show":[87,117],"that":[88],"more":[89],"helps":[91],"transfer,":[94],"yet":[95],"also":[98],"harm":[99],"the":[100,103,124,128],"ability":[101],"of":[102],"algorithm":[104],"find":[106],"good":[108],"policy":[109],"simulation.":[111],"Fully":[112],"simulations":[114],"fine-tuning":[116],"differentiated":[118],"translate":[121],"better":[122],"robot":[126],"than":[127],"other":[129],"tested.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}