{"id":"https://openalex.org/W4405785491","doi":"https://doi.org/10.1109/iros58592.2024.10802060","title":"Continual Domain Randomization","display_name":"Continual Domain Randomization","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785491","doi":"https://doi.org/10.1109/iros58592.2024.10802060"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/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,School of Computation Information and Technology,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,School of Computation Information and Technology,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040991202","display_name":"Sayantan Auddy","orcid":"https://orcid.org/0000-0003-3784-8913"},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Sayantan Auddy","raw_affiliation_strings":["University of Innsbruck,Department of Computer Science,Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Innsbruck,Department of Computer Science,Austria","institution_ids":["https://openalex.org/I190249584"]}]},{"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,School of Computation Information and Technology,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,School of Computation Information and Technology,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024515193","display_name":"Justus Piater","orcid":"https://orcid.org/0000-0002-1898-3362"},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Justus Piater","raw_affiliation_strings":["University of Innsbruck,Department of Computer Science,Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Innsbruck,Department of Computer Science,Austria","institution_ids":["https://openalex.org/I190249584"]}]},{"author_position":"middle","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,School of Computation Information and Technology,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,School of Computation Information and Technology,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","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/I4210136150","display_name":"L3S Research Center","ror":"https://ror.org/039t4wk02","country_code":"DE","type":"facility","lineage":["https://openalex.org/I114112103","https://openalex.org/I4210136150","https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nicol\u00e1s Navarro-Guerrero","raw_affiliation_strings":["Leibniz Universit&#x00E4;t,L3S Research Center,Hannover,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz Universit&#x00E4;t,L3S Research Center,Hannover,Germany","institution_ids":["https://openalex.org/I4210136150"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.4807,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.96556564,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4965","last_page":"4972"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.3650999963283539,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.3650999963283539,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/randomization","display_name":"Randomization","score":0.5944852828979492},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5710769295692444},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4864951968193054},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2505936920642853},{"id":"https://openalex.org/keywords/clinical-trial","display_name":"Clinical trial","score":0.06717333197593689},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.0645551085472107},{"id":"https://openalex.org/keywords/bioinformatics","display_name":"Bioinformatics","score":0.05634880065917969}],"concepts":[{"id":"https://openalex.org/C204243189","wikidata":"https://www.wikidata.org/wiki/Q1363085","display_name":"Randomization","level":3,"score":0.5944852828979492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5710769295692444},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4864951968193054},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2505936920642853},{"id":"https://openalex.org/C535046627","wikidata":"https://www.wikidata.org/wiki/Q30612","display_name":"Clinical trial","level":2,"score":0.06717333197593689},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0645551085472107},{"id":"https://openalex.org/C60644358","wikidata":"https://www.wikidata.org/wiki/Q128570","display_name":"Bioinformatics","level":1,"score":0.05634880065917969},{"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/iros58592.2024.10802060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":19,"referenced_works":["https://openalex.org/W2503967141","https://openalex.org/W2560647685","https://openalex.org/W2605102758","https://openalex.org/W2765500706","https://openalex.org/W2767050701","https://openalex.org/W2788388592","https://openalex.org/W2908739874","https://openalex.org/W2963906246","https://openalex.org/W3003524200","https://openalex.org/W3088310808","https://openalex.org/W3117215073","https://openalex.org/W3121342653","https://openalex.org/W3132082252","https://openalex.org/W3212380917","https://openalex.org/W4312539606","https://openalex.org/W4364374595","https://openalex.org/W4366750259","https://openalex.org/W4376274293","https://openalex.org/W4385462854"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Domain":[0,85],"Randomization":[1,86],"(DR)":[2],"is":[3,124,130,140],"commonly":[4],"used":[5],"for":[6,47,88],"sim2real":[7],"transfer":[8],"of":[9,26,32,57,106,135,146],"reinforcement":[10],"learning":[11,96,139],"(RL)":[12],"policies":[13],"in":[14,49,67,101,117,161,166],"robotics.":[15],"Most":[16],"DR":[17],"approaches":[18],"require":[19],"a":[20,23,44,77,104,110,114,118,133],"simulator":[21],"with":[22,94],"fixed":[24],"set":[25],"tunable":[27],"parameters":[28,38,59,108],"from":[29,35,113],"the":[30,33,37,50,54,61,122,128,144,158,172],"start":[31],"training,":[34],"which":[36],"are":[39,194],"randomized":[40],"simultaneously":[41],"to":[42,75,97,126,142],"train":[43],"robust":[45],"model":[46,115,129,159],"use":[48],"real":[51,173],"world.":[52],"However,":[53],"combined":[55,182],"randomization":[56,93,107,183,186],"many":[58],"increases":[60],"task":[62,123],"difficulty":[63],"and":[64,74,137,152,168,192],"might":[65],"result":[66],"sub-optimal":[68],"policies.":[69],"To":[70],"address":[71],"this":[72,162],"problem":[73],"provide":[76],"more":[78],"flexible":[79],"training":[80,100],"process,":[81],"we":[82],"propose":[83],"Continual":[84],"(CDR)":[87],"RL":[89],"that":[90,157,180],"combines":[91],"domain":[92],"continual":[95,138,188],"enable":[98],"sequential":[99,185],"simulation":[102,120,167],"on":[103,132,171],"subset":[105],"at":[109,196],"time.":[111],"Starting":[112],"trained":[116,131,160],"non-randomized":[119],"where":[121],"easier":[125],"solve,":[127],"sequence":[134],"randomizations,":[136],"employed":[141],"remember":[143],"effects":[145],"previous":[147],"randomizations.":[148],"Our":[149,190],"robotic":[150],"reaching":[151],"grasping":[153],"tasks":[154],"experiments":[155],"show":[156],"fashion":[163],"learns":[164],"effectively":[165],"performs":[169],"robustly":[170],"robot":[174],"while":[175],"matching":[176],"or":[177,184],"outperforming":[178],"baselines":[179],"employ":[181],"without":[187],"learning.":[189],"code":[191],"videos":[193],"available":[195],"https://continual-dr.github.io/.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
