{"id":"https://openalex.org/W4416749848","doi":"https://doi.org/10.1109/iros60139.2025.11247297","title":"Saliency-Guided Domain Adaptation for Left-Hand Driving in Autonomous Steering","display_name":"Saliency-Guided Domain Adaptation for Left-Hand Driving in Autonomous Steering","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749848","doi":"https://doi.org/10.1109/iros60139.2025.11247297"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247297","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/A5120386290","display_name":"Zahra Mehraban","orcid":null},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Zahra Mehraban","raw_affiliation_strings":["Queensland University of Technology,Centre for Accident Research and Road Safety-Queensland,Brisbane,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,Centre for Accident Research and Road Safety-Queensland,Brisbane,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006030641","display_name":"S\u00e9bastien Glaser","orcid":"https://orcid.org/0000-0003-0658-7765"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sebastien Glaser","raw_affiliation_strings":["Queensland University of Technology,Centre for Accident Research and Road Safety-Queensland,Brisbane,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,Centre for Accident Research and Road Safety-Queensland,Brisbane,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078340555","display_name":"Michael Milford","orcid":"https://orcid.org/0000-0002-5162-1793"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Milford","raw_affiliation_strings":["Queensland University of Technology,QUT Centre for Robotics and School of Electrical Engineering and Computer Science,Brisbane,QLD,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,QUT Centre for Robotics and School of Electrical Engineering and Computer Science,Brisbane,QLD,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024591851","display_name":"Ronald Schroeter","orcid":"https://orcid.org/0000-0001-7990-1474"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ronald Schroeter","raw_affiliation_strings":["Queensland University of Technology,Centre for Accident Research and Road Safety-Queensland,Brisbane,Australia,4000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,Centre for Accident Research and Road Safety-Queensland,Brisbane,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14156","last_page":"14162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.5979999899864197,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.5979999899864197,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.055399999022483826,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10370","display_name":"Traffic and Road Safety","score":0.03680000081658363,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/adaptation","display_name":"Adaptation (eye)","score":0.7253000140190125},{"id":"https://openalex.org/keywords/data-pre-processing","display_name":"Data pre-processing","score":0.5471000075340271},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5320000052452087},{"id":"https://openalex.org/keywords/domain-adaptation","display_name":"Domain adaptation","score":0.5220999717712402},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5156000256538391},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.48339998722076416},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.4643000066280365},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.45820000767707825},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4431999921798706}],"concepts":[{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.7253000140190125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6728000044822693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6079000234603882},{"id":"https://openalex.org/C10551718","wikidata":"https://www.wikidata.org/wiki/Q5227332","display_name":"Data pre-processing","level":2,"score":0.5471000075340271},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5320000052452087},{"id":"https://openalex.org/C2776434776","wikidata":"https://www.wikidata.org/wiki/Q19246213","display_name":"Domain adaptation","level":3,"score":0.5220999717712402},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5156000256538391},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.48339998722076416},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.4643000066280365},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.45989999175071716},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4431999921798706},{"id":"https://openalex.org/C2778712577","wikidata":"https://www.wikidata.org/wiki/Q3505966","display_name":"Retraining","level":2,"score":0.42989999055862427},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.3946000039577484},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.384799987077713},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.3467999994754791},{"id":"https://openalex.org/C2780689630","wikidata":"https://www.wikidata.org/wiki/Q2081815","display_name":"Driving simulator","level":2,"score":0.3440000116825104},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.33149999380111694},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2904999852180481},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2892000079154968},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2851000130176544},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C148483581","wikidata":"https://www.wikidata.org/wiki/Q446488","display_name":"Feature selection","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2590999901294708},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25380000472068787}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247297","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247297","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":23,"referenced_works":["https://openalex.org/W2145023731","https://openalex.org/W2151226872","https://openalex.org/W2165698076","https://openalex.org/W2194775991","https://openalex.org/W2295107390","https://openalex.org/W2584009249","https://openalex.org/W2593768305","https://openalex.org/W2786808285","https://openalex.org/W2962858109","https://openalex.org/W2963016445","https://openalex.org/W2964115968","https://openalex.org/W2964288524","https://openalex.org/W3011978462","https://openalex.org/W3092609815","https://openalex.org/W3132424739","https://openalex.org/W3176820334","https://openalex.org/W3210880780","https://openalex.org/W4205991051","https://openalex.org/W4312287126","https://openalex.org/W4366816503","https://openalex.org/W4388930611","https://openalex.org/W4392592030","https://openalex.org/W4394596488"],"related_works":[],"abstract_inverted_index":{"Domain":[0],"adaptation":[1,23,102,151,184,204],"is":[2],"required":[3],"for":[4,21,32],"automated":[5],"driving":[6,34,54,108],"models":[7],"to":[8,24,124,144,157,201],"generalize":[9],"well":[10],"across":[11,128,171],"diverse":[12],"road":[13,130],"conditions.":[14],"This":[15,92],"paper":[16,111],"explores":[17],"a":[18,47,57,65,79],"training":[19,42],"method":[20],"domain":[22],"adapt":[25],"PilotNet,":[26],"an":[27,105],"end-to-end":[28],"deep":[29],"learning-based":[30],"model,":[31],"left-hand":[33,107],"conditions":[35],"using":[36,121],"real-world":[37],"Australian":[38,75,90],"highway":[39],"data.":[40],"Four":[41],"methods":[43],"were":[44,177],"evaluated:":[45],"(1)":[46],"baseline":[48],"model":[49,58,66,80,101,113,203],"trained":[50,59],"on":[51,60,68,74,82,89,136,164,179],"U.S.":[52,62,69,84],"right-hand":[53],"data,":[55,63],"(2)":[56],"flipped":[61,83,97,137],"(3)":[64],"pretrained":[67,81],"data":[70,85,98,138],"and":[71,77,86,119,161],"then":[72,87],"fine-tuned":[73,88],"highways,":[76],"(4)":[78],"highways.":[91],"setup":[93],"examines":[94],"whether":[95],"incorporating":[96],"enhances":[99],"the":[100,174,189],"by":[103,154,199],"providing":[104],"initial":[106],"alignment.":[109],"The":[110],"compares":[112],"performance":[114],"regarding":[115],"steering":[116],"prediction":[117,141,159],"accuracy":[118],"attention,":[120],"saliency-based":[122],"analysis":[123],"measure":[125],"attention":[126],"shifts":[127],"significant":[129],"regions.":[131],"Results":[132],"show":[133],"that":[134],"pretraining":[135],"alone":[139],"worsens":[140],"stability":[142],"due":[143],"misaligned":[145],"feature":[146],"representations,":[147],"but":[148],"significantly":[149],"improves":[150],"when":[152],"followed":[153,198],"fine-tuning,":[155],"leading":[156],"lower":[158],"error":[160],"stronger":[162],"focus":[163],"left-side":[165],"cues.":[166],"To":[167],"validate":[168],"this":[169],"approach":[170],"different":[172],"architectures,":[173],"same":[175],"experiments":[176],"done":[178],"ResNet,":[180],"which":[181],"confirmed":[182],"similar":[183],"trends.":[185],"These":[186],"findings":[187],"emphasize":[188],"importance":[190],"of":[191],"preprocessing":[192],"techniques,":[193],"such":[194],"as":[195],"flipped-data":[196],"pretraining,":[197],"fine-tuning":[200],"improve":[202],"with":[205],"minimal":[206],"retraining":[207],"requirements.":[208]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}