{"id":"https://openalex.org/W4416750201","doi":"https://doi.org/10.1109/iros60139.2025.11246980","title":"Generalizable Image Repair for Robust Visual Control","display_name":"Generalizable Image Repair for Robust Visual Control","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750201","doi":"https://doi.org/10.1109/iros60139.2025.11246980"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5092691988","display_name":"Carson Sobolewski","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Carson Sobolewski","raw_affiliation_strings":["University of Florida,Trustworthy Engineered Autonomy (TEA) Lab,Department of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida,Trustworthy Engineered Autonomy (TEA) Lab,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I4210139618"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104160506","display_name":"Zhenjiang Mao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenjiang Mao","raw_affiliation_strings":["University of Florida,Trustworthy Engineered Autonomy (TEA) Lab,Department of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida,Trustworthy Engineered Autonomy (TEA) Lab,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I4210139618"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119891569","display_name":"Kshitij Maruti Vejre","orcid":null},"institutions":[{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kshitij Maruti Vejre","raw_affiliation_strings":["University of Florida,Trustworthy Engineered Autonomy (TEA) Lab,Department of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida,Trustworthy Engineered Autonomy (TEA) Lab,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I4210139618"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021509994","display_name":"Ivan Ruchkin","orcid":"https://orcid.org/0000-0003-3546-414X"},"institutions":[{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ivan Ruchkin","raw_affiliation_strings":["University of Florida,Trustworthy Engineered Autonomy (TEA) Lab,Department of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Florida,Trustworthy Engineered Autonomy (TEA) Lab,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I4210139618"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210139618"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42670911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9971","last_page":"9978"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.7922999858856201,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.7922999858856201,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.06729999929666519,"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/T11105","display_name":"Advanced Image Processing Techniques","score":0.051600001752376556,"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/robustness","display_name":"Robustness (evolution)","score":0.7512000203132629},{"id":"https://openalex.org/keywords/image-translation","display_name":"Image translation","score":0.7091000080108643},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.5684000253677368},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.48820000886917114},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4860000014305115},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4690000116825104},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4235000014305115},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.4140999913215637},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.39899998903274536}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7512000203132629},{"id":"https://openalex.org/C2779757391","wikidata":"https://www.wikidata.org/wiki/Q6002292","display_name":"Image translation","level":3,"score":0.7091000080108643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6905999779701233},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6899999976158142},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6340000033378601},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.5684000253677368},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.48820000886917114},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4860000014305115},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4690000116825104},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4235000014305115},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.4140999913215637},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.374099999666214},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.3562999963760376},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.34389999508857727},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3181000053882599},{"id":"https://openalex.org/C2776434776","wikidata":"https://www.wikidata.org/wiki/Q19246213","display_name":"Domain adaptation","level":3,"score":0.30169999599456787},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2913999855518341},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C106430172","wikidata":"https://www.wikidata.org/wiki/Q6002272","display_name":"Image restoration","level":4,"score":0.2741999924182892},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25699999928474426},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.25450000166893005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246980","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2128104012","https://openalex.org/W2162651021","https://openalex.org/W2170608748","https://openalex.org/W2604382266","https://openalex.org/W2735974062","https://openalex.org/W2952773607","https://openalex.org/W2953231542","https://openalex.org/W2954996726","https://openalex.org/W2962770929","https://openalex.org/W2962793481","https://openalex.org/W2962872506","https://openalex.org/W2962894046","https://openalex.org/W2963073614","https://openalex.org/W2963275094","https://openalex.org/W2964013315","https://openalex.org/W3092609815","https://openalex.org/W3096831136","https://openalex.org/W3167568784","https://openalex.org/W3188004887","https://openalex.org/W3207918547","https://openalex.org/W4205667262","https://openalex.org/W4285900042","https://openalex.org/W4312933868","https://openalex.org/W4319300947","https://openalex.org/W4386066723"],"related_works":[],"abstract_inverted_index":{"Vision-based":[0],"control":[1,28,112],"relies":[2],"on":[3],"accurate":[4],"perception":[5],"to":[6,26,42,44,91,93,104,151],"achieve":[7],"robustness.":[8],"However,":[9],"image":[10,59,84,100],"distribution":[11,154],"changes":[12],"caused":[13],"by":[14,70],"sensor":[15],"noise,":[16],"adverse":[17],"weather,":[18],"and":[19,35,81,156],"dynamic":[20],"lighting":[21],"can":[22],"degrade":[23],"perception,":[24],"leading":[25],"suboptimal":[27],"decisions.":[29],"Existing":[30],"approaches,":[31],"including":[32],"domain":[33],"adaptation":[34],"adversarial":[36,77],"training,":[37],"improve":[38,105],"robustness":[39],"but":[40],"struggle":[41],"generalize":[43],"unseen":[45],"corruptions":[46],"while":[47,96],"introducing":[48],"computational":[49],"overhead.":[50],"To":[51,108],"address":[52],"this":[53],"challenge,":[54],"we":[55,114],"propose":[56],"a":[57,116,132],"real-time":[58],"repair":[60],"module":[61],"that":[62,120,144],"restores":[63],"corrupted":[64],"images":[65],"before":[66],"they":[67],"are":[68],"used":[69],"the":[71,106],"controller.":[72],"Our":[73],"method":[74,130],"leverages":[75],"generative":[76],"models,":[78],"specifically":[79],"CycleGAN":[80,86],"pix2pix,":[82],"for":[83],"repair.":[85],"enables":[87],"unpaired":[88],"image-to-image":[89],"translation":[90],"adapt":[92],"novel":[94],"corruptions,":[95],"pix2pix":[97],"exploits":[98],"paired":[99],"data":[101],"when":[102],"available":[103],"quality.":[107],"ensure":[109],"alignment":[110],"with":[111,137],"performance,":[113],"introduce":[115],"control-focused":[117],"loss":[118],"function":[119],"prioritizes":[121],"perceptual":[122],"consistency":[123],"in":[124,131],"repaired":[125],"images.":[126],"We":[127],"evaluated":[128],"our":[129,145],"simulated":[133],"autonomous":[134],"racing":[135],"environment":[136],"various":[138],"visual":[139],"corruptions.":[140],"The":[141],"results":[142],"show":[143],"approach":[146],"significantly":[147],"improves":[148],"performance":[149],"compared":[150],"baselines,":[152],"mitigating":[153],"shift":[155],"enhancing":[157],"controller":[158],"reliability.":[159]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}