{"id":"https://openalex.org/W4405785638","doi":"https://doi.org/10.1109/iros58592.2024.10802792","title":"Embodiment Randomization for Cross Embodiment Navigation","display_name":"Embodiment Randomization for Cross Embodiment Navigation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785638","doi":"https://doi.org/10.1109/iros58592.2024.10802792"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802792","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":"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/A5082210892","display_name":"Pranav Putta","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pranav Putta","raw_affiliation_strings":["Georgia Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024032203","display_name":"Gunjan Aggarwal","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gunjan Aggarwal","raw_affiliation_strings":["Georgia Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070375939","display_name":"Roozbeh Mottaghi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roozbeh Mottaghi","raw_affiliation_strings":["Meta AI,FAIR"],"affiliations":[{"raw_affiliation_string":"Meta AI,FAIR","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070032468","display_name":"Dhruv Batra","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dhruv Batra","raw_affiliation_strings":["Georgia Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103004161","display_name":"Naoki Yokoyama","orcid":"https://orcid.org/0009-0002-2919-936X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naoki Yokoyama","raw_affiliation_strings":["Georgia Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043076769","display_name":"Joanne Truong","orcid":"https://orcid.org/0000-0003-2700-7328"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joanne Truong","raw_affiliation_strings":["Georgia Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004995502","display_name":"Arjun Majumdar","orcid":"https://orcid.org/0000-0002-9113-3583"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arjun Majumdar","raw_affiliation_strings":["Georgia Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5082210892"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24576944,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5527","last_page":"5534"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.996999979019165,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.996999979019165,"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/T12290","display_name":"Human Motion and Animation","score":0.9878000020980835,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9873999953269958,"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":0.6867605447769165},{"id":"https://openalex.org/keywords/randomization","display_name":"Randomization","score":0.45063087344169617},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41244742274284363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38296276330947876},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33427125215530396},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3251306116580963}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6867605447769165},{"id":"https://openalex.org/C204243189","wikidata":"https://www.wikidata.org/wiki/Q1363085","display_name":"Randomization","level":3,"score":0.45063087344169617},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41244742274284363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38296276330947876},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33427125215530396},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3251306116580963},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C168563851","wikidata":"https://www.wikidata.org/wiki/Q1436668","display_name":"Randomized controlled trial","level":2,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802792","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":26,"referenced_works":["https://openalex.org/W2064675550","https://openalex.org/W2605102758","https://openalex.org/W2767050701","https://openalex.org/W2953127211","https://openalex.org/W2962887844","https://openalex.org/W2963614114","https://openalex.org/W3009928773","https://openalex.org/W3049043369","https://openalex.org/W3110378871","https://openalex.org/W3199020598","https://openalex.org/W4285092328","https://openalex.org/W4313156423","https://openalex.org/W4383066576","https://openalex.org/W4387764390","https://openalex.org/W6753516098","https://openalex.org/W6764655487","https://openalex.org/W6773029903","https://openalex.org/W6784333009","https://openalex.org/W6797065961","https://openalex.org/W6800673378","https://openalex.org/W6841586102","https://openalex.org/W6842936555","https://openalex.org/W6846219718","https://openalex.org/W6850481810","https://openalex.org/W6853468020","https://openalex.org/W6857492346"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"We":[0,64],"present":[1],"Embodiment":[2],"Randomization,":[3],"a":[4],"simple,":[5],"inexpensive,":[6],"and":[7,50,54,106,120],"intuitive":[8],"technique":[9],"for":[10],"training":[11],"robust":[12],"behavior":[13],"policies":[14,67],"that":[15,66],"can":[16,55],"be":[17,56],"transferred":[18],"to":[19,36,78,80,94,104],"multiple":[20,30],"robot":[21,96],"embodiments.":[22],"While":[23],"prior":[24],"works":[25],"require":[26],"real-world":[27,109],"data":[28],"from":[29,102],"robots,":[31],"or":[32],"complex":[33],"algorithmic":[34],"adjustments":[35],"address":[37],"the":[38,46,112],"challenge":[39],"of":[40,48,114],"embodiment":[41,70,115],"generalization,":[42],"our":[43],"approach":[44,86],"leverages":[45],"power":[47],"simulation":[49,103],"large-scale":[51],"reinforcement":[52],"learning":[53,62],"easily":[57],"integrated":[58],"within":[59],"existing":[60],"policy":[61],"methods.":[63],"show":[65],"trained":[68],"with":[69,108],"randomization":[71,116],"implicitly":[72],"perform":[73],"system":[74],"identification,":[75],"enabling":[76],"them":[77],"adapt":[79],"new":[81],"embodiments":[82],"during":[83],"deployment.":[84],"Our":[85],"not":[87],"only":[88],"shows":[89],"significant":[90],"improvements":[91],"in":[92,100,117],"adapting":[93],"novel":[95],"configurations,":[97],"but":[98],"also":[99],"generalizing":[101],"reality":[105],"contending":[107],"perturbations,":[110],"highlighting":[111],"potential":[113],"creating":[118],"versatile":[119],"adaptable":[121],"robotic":[122],"navigation":[123],"policies.":[124]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
