{"id":"https://openalex.org/W3109978116","doi":"https://doi.org/10.1109/lra.2021.3062303","title":"Bi-Directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents","display_name":"Bi-Directional Domain Adaptation for Sim2Real Transfer of Embodied Navigation Agents","publication_year":2021,"publication_date":"2021-02-25","ids":{"openalex":"https://openalex.org/W3109978116","doi":"https://doi.org/10.1109/lra.2021.3062303","mag":"3109978116"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3062303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062303","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.12421","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"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, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2700-7328","affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sonia Chernova","orcid":"https://orcid.org/0000-0001-6320-0825"},"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"]},{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]},{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sonia Chernova","raw_affiliation_strings":["Facebook AI Research, Menlo Park, USA","Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6320-0825","affiliations":[{"raw_affiliation_string":"Facebook AI Research, Menlo Park, USA","institution_ids":["https://openalex.org/I4210114444","https://openalex.org/I4210099336"]},{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":null,"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"]},{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]},{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dhruv Batra","raw_affiliation_strings":["Facebook AI Research, Menlo Park, USA","Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Facebook AI Research, Menlo Park, USA","institution_ids":["https://openalex.org/I4210114444","https://openalex.org/I4210099336"]},{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.0053,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.96741611,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"6","issue":"2","first_page":"2634","last_page":"2641"},"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":0.7526000142097473,"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":0.7526000142097473,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.10000000149011612,"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":0.056299999356269836,"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/bridge","display_name":"Bridge (graph theory)","score":0.7239000201225281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6844000220298767},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6037999987602234},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5943999886512756},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.567799985408783},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5582000017166138},{"id":"https://openalex.org/keywords/domain-adaptation","display_name":"Domain adaptation","score":0.42739999294281006}],"concepts":[{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.7239000201225281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6844000220298767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6840000152587891},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6037999987602234},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5943999886512756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5684000253677368},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.567799985408783},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5582000017166138},{"id":"https://openalex.org/C2776434776","wikidata":"https://www.wikidata.org/wiki/Q19246213","display_name":"Domain adaptation","level":3,"score":0.42739999294281006},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.39649999141693115},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38609999418258667},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.35589998960494995},{"id":"https://openalex.org/C109747225","wikidata":"https://www.wikidata.org/wiki/Q815758","display_name":"Scarcity","level":2,"score":0.337799996137619},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3188999891281128},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3075000047683716},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.3003999888896942},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2612999975681305}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3062303","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062303","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2011.12421","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.12421","pdf_url":"https://arxiv.org/pdf/2011.12421","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.12421","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.12421","pdf_url":"https://arxiv.org/pdf/2011.12421","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1582335945","display_name":null,"funder_award_id":"DGE-1650044","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"},{"id":"https://openalex.org/F4320338294","display_name":"Air Force Research Laboratory","ror":"https://ror.org/02e2egq70"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1967740178","https://openalex.org/W2605102758","https://openalex.org/W2767050701","https://openalex.org/W2953127211","https://openalex.org/W2962793481","https://openalex.org/W2962899390","https://openalex.org/W2962957005","https://openalex.org/W2963184124","https://openalex.org/W2963390419","https://openalex.org/W2967727187","https://openalex.org/W2968116426","https://openalex.org/W2990747716","https://openalex.org/W3008998212","https://openalex.org/W3009928773","https://openalex.org/W3049043369","https://openalex.org/W6632223008","https://openalex.org/W6640926891","https://openalex.org/W6753516098","https://openalex.org/W6756581457","https://openalex.org/W6756848961","https://openalex.org/W6757380569","https://openalex.org/W6764655487","https://openalex.org/W6765779288","https://openalex.org/W6773029903"],"related_works":[],"abstract_inverted_index":{"Deep":[0],"reinforcement":[1],"learning":[2],"models":[3],"are":[4],"notoriously":[5],"data":[6,10,92],"hungry,":[7],"yet":[8],"real-world":[9,100,154],"is":[11,25,60],"expensive":[12],"and":[13,51,62,95,129],"time":[14],"consuming":[15],"to":[16,24,26,43,69,71,114,123,131],"obtain.":[17],"The":[18],"solution":[19],"that":[20],"many":[21],"have":[22],"turned":[23],"use":[27],"simulation":[28,59,67],"for":[29],"training":[30],"before":[31],"deploying":[32],"the":[33,41,72,83,86,96,116,125,133,139,144,160],"robot":[34],"in":[35,49,66,75,119,172],"a":[36,76,111,163,173],"real":[37],"environment.":[38],"Simulation":[39],"offers":[40,52],"ability":[42],"train":[44],"large":[45],"numbers":[46],"of":[47,55,88,98,141,146,162,175],"robots":[48,63],"parallel,":[50],"an":[53],"abundance":[54,87],"data.":[56],"However,":[57],"no":[58],"perfect,":[61],"trained":[64],"solely":[65],"fail":[68],"generalize":[70],"real-world,":[73],"resulting":[74,171],"\u201csim-vs-real":[77],"gap\u201d.":[78],"How":[79],"can":[80],"we":[81,105],"overcome":[82],"trade-off":[84],"between":[85],"less":[89],"accurate,":[90],"artificial":[91],"from":[93],"simulators":[94],"scarcity":[97],"reliable,":[99],"data?":[101],"In":[102],"this":[103],"letter,":[104],"propose":[106],"Bi-directional":[107],"Domain":[108],"Adaptation":[109],"(BDA),":[110],"novel":[112],"approach":[113],"bridge":[115,124,132],"sim-vs-real":[117],"gap":[118],"both":[120],"directions-":[121],"real2sim":[122],"visual":[126],"domain":[127,135],"gap,":[128],"sim2real":[130],"dynamics":[134],"gap.":[136],"We":[137],"demonstrate":[138],"benefits":[140],"BDA":[142,149],"on":[143],"task":[145],"PointGoal":[147],"Navigation.":[148],"with":[150,166],"only":[151],"5":[152],"k":[153,169],"(state,":[155],"action,":[156],"next-state)":[157],"samples":[158],"matches":[159],"performance":[161],"policy":[164],"fine-tuned":[165],"~":[167,176],"600":[168],"samples,":[170],"speed-up":[174],"120\u00d7.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-12-07T00:00:00"}
