{"id":"https://openalex.org/W4406610424","doi":"https://doi.org/10.1109/lra.2025.3532162","title":"Diverse Policy Learning via Random Obstacle Deployment for Zero-Shot Adaptation","display_name":"Diverse Policy Learning via Random Obstacle Deployment for Zero-Shot Adaptation","publication_year":2025,"publication_date":"2025-01-20","ids":{"openalex":"https://openalex.org/W4406610424","doi":"https://doi.org/10.1109/lra.2025.3532162"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3532162","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3532162","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3532162","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Seokjin Choi","orcid":"https://orcid.org/0009-0007-1020-9077"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seokjin Choi","raw_affiliation_strings":["Robotics Laboratory, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0009-0007-1020-9077","affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103278399","display_name":"Yonghyeon Lee","orcid":"https://orcid.org/0000-0001-7490-9602"},"institutions":[{"id":"https://openalex.org/I125608817","display_name":"Korea Institute for Advanced Study","ror":"https://ror.org/041hz9568","country_code":"KR","type":"facility","lineage":["https://openalex.org/I125608817"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghyeon Lee","raw_affiliation_strings":["Center for AI and Natural Sciences (CAINS), Korea Institute for Advanced Study (KIAS), Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-7490-9602","affiliations":[{"raw_affiliation_string":"Center for AI and Natural Sciences (CAINS), Korea Institute for Advanced Study (KIAS), Seoul, South Korea","institution_ids":["https://openalex.org/I125608817"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100730147","display_name":"Seungyeon Kim","orcid":"https://orcid.org/0000-0001-6708-5684"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seungyeon Kim","raw_affiliation_strings":["Robotics Laboratory, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-6708-5684","affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081532555","display_name":"C.G. Park","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Che-Sang Park","raw_affiliation_strings":["Robotics Laboratory, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0009-0001-1164-5977","affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102589455","display_name":"Himchan Hwang","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Himchan Hwang","raw_affiliation_strings":["Robotics Laboratory, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0009-0003-3863-7074","affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009036246","display_name":"Frank C. Park","orcid":"https://orcid.org/0000-0002-0293-6975"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Frank C. Park","raw_affiliation_strings":["Robotics Laboratory, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0293-6975","affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5175,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.9164044,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"10","issue":"3","first_page":"2510","last_page":"2517"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14413","display_name":"Advanced Technologies in Various Fields","score":0.9696999788284302,"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/T14413","display_name":"Advanced Technologies in Various Fields","score":0.9696999788284302,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9355999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7685375213623047},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6891989707946777},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.688162088394165},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6266984343528748},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.5362047553062439},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4821326434612274},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33493900299072266},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20420488715171814},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.19295912981033325},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.10071966052055359},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.0856524407863617},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.06641599535942078},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.06545200943946838}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7685375213623047},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6891989707946777},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.688162088394165},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6266984343528748},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.5362047553062439},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4821326434612274},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33493900299072266},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20420488715171814},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.19295912981033325},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.10071966052055359},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0856524407863617},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.06641599535942078},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.06545200943946838},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3532162","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3532162","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3532162","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3532162","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G8132207299","display_name":null,"funder_award_id":"P0020536","funder_id":"https://openalex.org/F4320322064","funder_display_name":"Korea Institute for Advancement of Technology"}],"funders":[{"id":"https://openalex.org/F4320322064","display_name":"Korea Institute for Advancement of Technology","ror":"https://ror.org/015w1qa96"},{"id":"https://openalex.org/F4320333993","display_name":"Microsoft Research Asia","ror":"https://ror.org/0300m5276"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2962727439","https://openalex.org/W2985275943","https://openalex.org/W4224130159","https://openalex.org/W4239971517","https://openalex.org/W4385403811","https://openalex.org/W4401414379","https://openalex.org/W4401607239","https://openalex.org/W6684921986","https://openalex.org/W6692846177","https://openalex.org/W6741002519","https://openalex.org/W6747473740","https://openalex.org/W6748603076","https://openalex.org/W6748839928","https://openalex.org/W6752307458","https://openalex.org/W6764724164","https://openalex.org/W6773329755","https://openalex.org/W6778051727","https://openalex.org/W6780559895","https://openalex.org/W6785130903","https://openalex.org/W6798213610","https://openalex.org/W6810117360","https://openalex.org/W6846539466","https://openalex.org/W6849750003","https://openalex.org/W6873288650","https://openalex.org/W6873342037","https://openalex.org/W6880707737"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2074502265","https://openalex.org/W4245435724","https://openalex.org/W4214877189","https://openalex.org/W2770234245","https://openalex.org/W2055301889","https://openalex.org/W4400979532"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3],"propose":[4],"a":[5,27,44,95,101,113,122],"novel":[6,45],"reinforcement":[7],"learning":[8,26,46,71],"framework":[9],"that":[10,25,48,140],"enables":[11],"zero-shot":[12,85],"policy":[13,28,55,70],"adaptation":[14],"in":[15],"environments":[16],"with":[17,161],"unseen,":[18],"dynamically":[19,152],"changing":[20,153],"obstacles.":[21,167],"Adopting":[22],"the":[23,54,65],"idea":[24],"capable":[29],"of":[30,67],"generating":[31],"diverse":[32,60,69,146],"actions":[33,128,147],"is":[34,43],"key":[35,93],"to":[36,56,80,130,134,151],"achieving":[37],"such":[38,164],"adaptability,":[39],"our":[40,88,137],"primary":[41],"contribution":[42],"algorithm":[47],"incorporates":[49],"random":[50],"obstacle":[51],"deployment,":[52],"enabling":[53],"explore":[57],"and":[58,100,125,148],"learn":[59],"actions.":[61],"This":[62],"method":[63,89,142],"overcomes":[64],"limitations":[66],"existing":[68,135],"approaches,":[72],"which":[73],"primarily":[74],"rely":[75],"on":[76],"mutual":[77],"information":[78],"maximization":[79],"increase":[81],"diversity.":[82],"To":[83],"enable":[84],"dynamic":[86],"adaptation,":[87],"further":[90],"involves":[91],"two":[92],"components:":[94],"state-dependent":[96],"latent":[97],"skill":[98,107,114],"sampler":[99],"motion":[102,123],"predictor.":[103],"We":[104],"sample":[105],"multiple":[106],"variables":[108],"at":[109],"each":[110],"state":[111],"using":[112,121],"sampler,":[115],"then":[116],"filter":[117],"out":[118],"unsafe":[119],"skills":[120],"predictor,":[124],"consequently":[126],"execute":[127],"corresponding":[129],"safe":[131],"skills.":[132],"Compared":[133],"methods,":[136],"experiments":[138],"demonstrate":[139],"proposed":[141],"generates":[143],"significantly":[144],"more":[145],"adapts":[149],"better":[150],"environments,":[154],"making":[155],"it":[156],"highly":[157],"effective":[158],"for":[159],"tasks":[160],"varying":[162],"constraints":[163],"as":[165],"moving":[166]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}