{"id":"https://openalex.org/W4200030076","doi":"https://doi.org/10.1109/iros51168.2021.9636206","title":"Model Adaptation through Hypothesis Transfer with Gradual Knowledge Distillation","display_name":"Model Adaptation through Hypothesis Transfer with Gradual Knowledge Distillation","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200030076","doi":"https://doi.org/10.1109/iros51168.2021.9636206"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636206","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5035419332","display_name":"Song Tang","orcid":"https://orcid.org/0000-0003-2635-1872"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]},{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["CN","DE"],"is_corresponding":true,"raw_author_name":"Song Tang","raw_affiliation_strings":["IMI Group, University of Shanghai for Science and Technology, Shanghai, China","TAMS Group, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"IMI Group, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]},{"raw_affiliation_string":"TAMS Group, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103285161","display_name":"Yuji Shi","orcid":"https://orcid.org/0009-0005-5058-2103"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Yuji Shi","raw_affiliation_strings":["IMI Group, University of Shanghai for Science and Technology, Shanghai, China","TAMS Group, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"IMI Group, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]},{"raw_affiliation_string":"TAMS Group, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100622932","display_name":"Zhiyuan Ma","orcid":"https://orcid.org/0000-0003-2153-5824"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Zhiyuan Ma","raw_affiliation_strings":["IMI Group, University of Shanghai for Science and Technology, Shanghai, China","TAMS Group, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"IMI Group, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]},{"raw_affiliation_string":"TAMS Group, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100402515","display_name":"Jian Li","orcid":"https://orcid.org/0000-0002-5749-2734"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Li","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025340321","display_name":"Jianzhi Lyu","orcid":"https://orcid.org/0000-0001-9702-1120"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianzhi Lyu","raw_affiliation_strings":["TAMS Group, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"TAMS Group, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021667837","display_name":"Qingdu Li","orcid":"https://orcid.org/0000-0001-9928-7272"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Qingdu Li","raw_affiliation_strings":["IMI Group, University of Shanghai for Science and Technology, Shanghai, China","TAMS Group, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"IMI Group, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]},{"raw_affiliation_string":"TAMS Group, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112888135","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-0457-7902"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["TAMS Group, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"TAMS Group, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5035419332"],"corresponding_institution_ids":["https://openalex.org/I148128674","https://openalex.org/I159176309"],"apc_list":null,"apc_paid":null,"fwci":1.2566,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.83492242,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5679","last_page":"5685"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9998999834060669,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9998999834060669,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.996399998664856,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.968500018119812,"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":0.8104135990142822},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.6905698776245117},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6800224184989929},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6306958198547363},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.536497175693512},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5327950119972229},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5280492901802063},{"id":"https://openalex.org/keywords/distillation","display_name":"Distillation","score":0.5277301073074341},{"id":"https://openalex.org/keywords/domain-adaptation","display_name":"Domain adaptation","score":0.5038668513298035},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.502234935760498},{"id":"https://openalex.org/keywords/knowledge-transfer","display_name":"Knowledge transfer","score":0.4719735085964203},{"id":"https://openalex.org/keywords/negative-transfer","display_name":"Negative transfer","score":0.4444262981414795}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8104135990142822},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.6905698776245117},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6800224184989929},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6306958198547363},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.536497175693512},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5327950119972229},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5280492901802063},{"id":"https://openalex.org/C204030448","wikidata":"https://www.wikidata.org/wiki/Q101017","display_name":"Distillation","level":2,"score":0.5277301073074341},{"id":"https://openalex.org/C2776434776","wikidata":"https://www.wikidata.org/wiki/Q19246213","display_name":"Domain adaptation","level":3,"score":0.5038668513298035},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.502234935760498},{"id":"https://openalex.org/C2776960227","wikidata":"https://www.wikidata.org/wiki/Q2586354","display_name":"Knowledge transfer","level":2,"score":0.4719735085964203},{"id":"https://openalex.org/C2779178101","wikidata":"https://www.wikidata.org/wiki/Q6987274","display_name":"Negative transfer","level":3,"score":0.4444262981414795},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C171041071","wikidata":"https://www.wikidata.org/wiki/Q36870","display_name":"First language","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636206","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636206","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1565327149","https://openalex.org/W1722318740","https://openalex.org/W1821462560","https://openalex.org/W1882958252","https://openalex.org/W1892837366","https://openalex.org/W2097482982","https://openalex.org/W2128053425","https://openalex.org/W2149466042","https://openalex.org/W2159291411","https://openalex.org/W2165698076","https://openalex.org/W2187089797","https://openalex.org/W2194775991","https://openalex.org/W2593800221","https://openalex.org/W2627183927","https://openalex.org/W2734459652","https://openalex.org/W2739879705","https://openalex.org/W2765407302","https://openalex.org/W2766897166","https://openalex.org/W2795155917","https://openalex.org/W2919115771","https://openalex.org/W2946812986","https://openalex.org/W2948210185","https://openalex.org/W2950333415","https://openalex.org/W2962808524","https://openalex.org/W2963140444","https://openalex.org/W2964139811","https://openalex.org/W2970987681","https://openalex.org/W2979920800","https://openalex.org/W2980096013","https://openalex.org/W2982204955","https://openalex.org/W2991405316","https://openalex.org/W2997006708","https://openalex.org/W3003904868","https://openalex.org/W3034218934","https://openalex.org/W3034401437","https://openalex.org/W3034526587","https://openalex.org/W3034972874","https://openalex.org/W3035576098","https://openalex.org/W3039883906","https://openalex.org/W3095697905","https://openalex.org/W3109093849","https://openalex.org/W3198430326","https://openalex.org/W6633949838","https://openalex.org/W6637154279","https://openalex.org/W6638523607","https://openalex.org/W6639480849","https://openalex.org/W6681637710","https://openalex.org/W6683633756","https://openalex.org/W6687400500","https://openalex.org/W6745136726","https://openalex.org/W6745831770","https://openalex.org/W6746171285","https://openalex.org/W6746282794","https://openalex.org/W6750109254","https://openalex.org/W6763066025","https://openalex.org/W6767486985","https://openalex.org/W6773475121","https://openalex.org/W6779157540","https://openalex.org/W6780188600","https://openalex.org/W7018611383"],"related_works":["https://openalex.org/W3201126466","https://openalex.org/W2372326716","https://openalex.org/W3026162553","https://openalex.org/W2388939917","https://openalex.org/W3095487414","https://openalex.org/W2901026139","https://openalex.org/W2398668521","https://openalex.org/W2619137770","https://openalex.org/W2952841984","https://openalex.org/W4319323732"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,6,25,45,53,62,118,152,181],"adapt":[3],"their":[4],"perception":[5],"changing":[7],"environments":[8],"is":[9,33,82,94],"a":[10,36,40,46,86,113,130,135,195,199,211],"core":[11],"characterization":[12],"of":[13,202,227],"intelligent":[14],"robots.":[15],"At":[16],"present,":[17],"Unsupervised":[18],"Domain":[19],"Adaptation":[20],"(UDA)":[21],"methods":[22,59,104],"are":[23],"used":[24,173],"address":[26],"this":[27,187],"problem":[28,38],"where":[29],"the":[30,55,63,68,79,91,97,101,107,139,149,153,166,174,178,183,189,203,207,216,224],"adaptation":[31,121],"task":[32],"formulated":[34],"as":[35],"transfer":[37,98,116,148],"from":[39,177],"well-described":[41],"scenario":[42,48],"(source":[43],"domain)":[44],"new":[47,114,212],"(target":[49],"domain).":[50],"In":[51,186],"order":[52],"implement":[54,160],"domain":[56,93,142,156],"adaptation,":[57],"these":[58],"require":[60],"access":[61],"source":[64,80,87,92,131,141,150],"data":[65,81],"for":[66],"achieving":[67],"distribution":[69],"matching":[70],"between":[71],"both":[72],"domains.":[73],"However,":[74],"in":[75],"many":[76],"real-world":[77],"applications,":[78],"inaccessible":[83],"and":[84,171],"only":[85],"model":[88,120,132,151],"pre-trained":[89],"on":[90,138,198,215,219],"available":[95],"during":[96],"process.":[99],"Therefore,":[100],"traditional":[102],"UDA":[103],"cannot":[105],"support":[106],"challenging":[108],"setting.":[109],"This":[110],"paper":[111],"developed":[112,210],"hypothesis":[115],"method":[117],"achieve":[119],"with":[122],"gradual":[123,161],"knowledge":[124,162],"distillation.":[125],"Specifically,":[126],"we":[127,147,164,209],"first":[128],"prepare":[129],"through":[133],"training":[134],"deep":[136],"network":[137],"labeled":[140],"by":[143,157,194],"supervised":[144],"learning.":[145],"Then,":[146],"unlabeled":[154],"target":[155],"self-training.":[158],"To":[159,205],"distillation,":[163],"sliced":[165],"self-training":[167],"into":[168],"several":[169],"epochs":[170],"then":[172],"soft":[175,190],"pseudo-labels":[176],"latest":[179],"epoch":[180],"guide":[182],"current":[184],"epoch.":[185],"process,":[188],"labels":[191],"were":[192],"generated":[193],"semantic":[196],"fusion":[197],"proposed":[200],"geometry":[201],"neighborhood.":[204,217],"regulate":[206],"self-training,":[208],"objective":[213],"constructed":[214],"Experiments":[218],"three":[220],"benchmarks":[221],"have":[222],"confirmed":[223],"state-of-the-art":[225],"results":[226],"our":[228],"method.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}