{"id":"https://openalex.org/W4413371262","doi":"https://doi.org/10.1109/lra.2025.3601029","title":"Zero-Shot Adaptation at Task-Level via Coarse-to-Fine Policy Refinement and Holistic-Local Contrastive Representation","display_name":"Zero-Shot Adaptation at Task-Level via Coarse-to-Fine Policy Refinement and Holistic-Local Contrastive Representation","publication_year":2025,"publication_date":"2025-08-20","ids":{"openalex":"https://openalex.org/W4413371262","doi":"https://doi.org/10.1109/lra.2025.3601029"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3601029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3601029","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":["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/A5113989142","display_name":"Zhengwei\ufeff Li\ufeff","orcid":"https://orcid.org/0009-0007-1100-1040"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengwei Li","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0007-1100-1040","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059283626","display_name":"Zhenyang Lin","orcid":"https://orcid.org/0000-0002-1361-4824"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyang Lin","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1361-4824","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041934391","display_name":"Yurou Chen","orcid":"https://orcid.org/0000-0002-0022-7219"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yurou Chen","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0022-7219","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101959190","display_name":"Lu Zhang","orcid":"https://orcid.org/0000-0001-6240-5300"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Zhang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6240-5300","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100434504","display_name":"Zhiyong Liu","orcid":"https://orcid.org/0000-0003-2148-1846"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Liu","raw_affiliation_strings":["School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2148-1846","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7588,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.88152676,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"10","issue":"10","first_page":"10338","last_page":"10345"},"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":0.9413999915122986,"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":0.9413999915122986,"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/adaptation","display_name":"Adaptation (eye)","score":0.7133984565734863},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.6790720820426941},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6712003946304321},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6580808758735657},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5443581342697144},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.23978057503700256},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.16766390204429626},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.13253924250602722},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10575604438781738},{"id":"https://openalex.org/keywords/politics","display_name":"Politics","score":0.07597213983535767}],"concepts":[{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.7133984565734863},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.6790720820426941},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6712003946304321},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6580808758735657},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5443581342697144},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.23978057503700256},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.16766390204429626},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.13253924250602722},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10575604438781738},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.07597213983535767},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3601029","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3601029","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G297044484","display_name":null,"funder_award_id":"62206288","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2066334462","https://openalex.org/W3001865277","https://openalex.org/W3128528928","https://openalex.org/W3203635720","https://openalex.org/W4237591687","https://openalex.org/W4319348618","https://openalex.org/W4382318723","https://openalex.org/W4383097530","https://openalex.org/W4393160404","https://openalex.org/W4401024792","https://openalex.org/W4404710285"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Meta-reinforcement":[0],"learning":[1,160,184],"offers":[2],"a":[3,45,72,85,120,130,135,139],"mechanism":[4],"for":[5,171],"zero-shot":[6,102,187],"adaptation,":[7,27,55],"enabling":[8],"agents":[9],"to":[10,47,99,114,167],"handle":[11],"new":[12,190],"tasks":[13],"with":[14,25,84],"parametric":[15],"variation":[16],"in":[17,53,57],"real-world":[18],"environments.":[19],"However,":[20],"existing":[21],"methods":[22,194],"still":[23],"struggle":[24],"task-level":[26,54],"which":[28,137],"demands":[29],"generalization":[30],"beyond":[31],"simple":[32],"variations":[33],"within":[34],"tasks,":[35,191],"thereby":[36],"limiting":[37],"their":[38],"practical":[39],"effectiveness.":[40],"This":[41,123],"limitation":[42],"stems":[43],"from":[44,161],"failure":[46],"leverage":[48],"the":[49,152,196],"hierarchical":[50],"characteristics":[51],"inherent":[52],"resulting":[56],"inadequate":[58],"task":[59,108,144,148],"representations":[60,149,170],"and":[61,164,186,199],"constrained":[62],"policy":[63,103,125,132,141,174],"adaptation":[64,188],"mechanisms.":[65],"To":[66],"address":[67],"these":[68,169],"challenges,":[69],"we":[70,106,157],"propose":[71],"<bold":[73,86,92],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[74,76,79,87,89,93,96],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">C</b>oarse-to-<bold":[75],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">F</b>ine":[77],"p<bold":[78],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">O</b>licy":[80],"refinement":[81],"process":[82],"combined":[83],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">H</b>olistic-<bold":[88],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">L</b>ocal":[90],"contrastive":[91,159],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">R</b>epresentation":[94],"(<bold":[95],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">CFOHLR</b>)":[97],"method":[98,181],"enable":[100],"effective":[101,173],"adaptation.":[104],"Specifically,":[105],"utilize":[107],"language":[109],"instructions":[110],"as":[111,119],"prior":[112],"knowledge":[113],"select":[115],"different":[116],"parameterized":[117],"modules":[118],"coarse":[121,124],"policy.":[122],"is":[126],"subsequently":[127],"refined":[128],"by":[129],"fine":[131],"generated":[133],"through":[134],"hypernetwork,":[136],"produces":[138],"task-aware":[140,155],"based":[142],"on":[143,189,195],"representations.":[145],"Additionally,":[146],"since":[147],"can":[150],"influence":[151],"effectiveness":[153],"of":[154],"policies,":[156],"employ":[158],"both":[162],"holistic":[163],"local":[165],"perspectives":[166],"enhance":[168],"more":[172],"generation.":[175],"Experimental":[176],"results":[177],"demonstrate":[178],"that":[179],"our":[180],"significantly":[182],"improves":[183],"efficiency":[185],"outperforming":[192],"previous":[193],"Meta-World":[197],"ML-10":[198],"ML-45":[200],"benchmarks.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
