{"id":"https://openalex.org/W7161820146","doi":"https://doi.org/10.48550/arxiv.2605.19924","title":"RoHIL: Robust Human-in-the-Loop Robotic Reinforcement Learning Against Illumination Variations","display_name":"RoHIL: Robust Human-in-the-Loop Robotic Reinforcement Learning Against Illumination Variations","publication_year":2026,"publication_date":"2026-05-19","ids":{"openalex":"https://openalex.org/W7161820146","doi":"https://doi.org/10.48550/arxiv.2605.19924"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.19924","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19924","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.19924","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136547744","display_name":"Shuoqin Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Shuoqin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136607076","display_name":"Yixin Xiong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiong, Yixin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136593418","display_name":"Xiru Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Xiru","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136530401","display_name":"Kai Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Kai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136606981","display_name":"Ke Wang","orcid":"https://orcid.org/0009-0006-5469-0029"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Ke","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010601964","display_name":"Xichuan Zhou","orcid":"https://orcid.org/0000-0002-3304-3045"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Xichuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136552907","display_name":"Zhe Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Zhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.40389999747276306,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.40389999747276306,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.35519999265670776,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.030899999663233757,"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/workstation","display_name":"Workstation","score":0.7746000289916992},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6518999934196472},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4472000002861023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4390000104904175},{"id":"https://openalex.org/keywords/forgetting","display_name":"Forgetting","score":0.43290001153945923},{"id":"https://openalex.org/keywords/on-the-fly","display_name":"On the fly","score":0.3720000088214874},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.3142000138759613},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.28540000319480896}],"concepts":[{"id":"https://openalex.org/C67953723","wikidata":"https://www.wikidata.org/wiki/Q192525","display_name":"Workstation","level":2,"score":0.7746000289916992},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7639999985694885},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6518999934196472},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5461000204086304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5077000260353088},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4472000002861023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4390000104904175},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.43290001153945923},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40560001134872437},{"id":"https://openalex.org/C2781020372","wikidata":"https://www.wikidata.org/wiki/Q533093","display_name":"On the fly","level":2,"score":0.3720000088214874},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31200000643730164},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.27630001306533813},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2718000113964081},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2648000121116638},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2630999982357025},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.2563000023365021},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.19924","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19924","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.19924","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.19924","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.4226416349411011,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Human-in-the-loop":[0],"reinforcement":[1],"learning":[2],"systems":[3],"achieve":[4],"near-perfect":[5],"success":[6],"on":[7,50,60],"the":[8,17,33,67,97,148,176],"workstation":[9,24,52,186],"where":[10,167],"they":[11],"are":[12],"trained,":[13],"but":[14],"collapse":[15],"when":[16],"same":[18],"robot":[19],"is":[20,53],"moved":[21],"to":[22,30,130,178],"a":[23,25,91,117],"few":[26],"meters":[27],"away":[28],"due":[29],"shifts":[31],"in":[32],"visual":[34,98],"input":[35],"distribution":[36],"caused":[37],"by":[38],"new":[39,185],"lamp":[40],"positions":[41],"and":[42,47,57,110,135,144,181,187],"window":[43],"light.":[44],"Re-collecting":[45],"demonstrations":[46],"re-running":[48],"HIL":[49],"every":[51,184],"incompatible":[54],"with":[55,126],"deployment,":[56],"naively":[58],"fine-tuning":[59,80],"shifted-light":[61,165],"data":[62,180],"triggers":[63],"catastrophic":[64],"forgetting":[65],"of":[66,100],"source":[68],"workstation.":[69],"To":[70],"close":[71],"this":[72],"cross-domain":[73],"gap,":[74],"we":[75],"present":[76],"RoHIL,":[77],"an":[78,137],"offline":[79],"framework":[81],"that":[82,95,121,141],"uses":[83],"no":[84],"extra":[85],"real-robot":[86,154],"interaction.":[87],"RoHIL":[88,162],"combines":[89],"(i)":[90],"world-model-based":[92],"image":[93],"relighter":[94],"re-synthesises":[96],"stream":[99],"source-workstation":[101,132,150,173],"trajectories":[102],"under":[103,157],"multiple":[104],"virtual":[105],"HDRI":[106],"environments,":[107],"leaving":[108],"actions":[109],"rewards":[111],"real;":[112],"(ii)":[113],"Illumination-Retention":[114],"Replay":[115],"(IRR),":[116],"data-level":[118],"anti-forgetting":[119],"mechanism":[120],"interleaves":[122],"relit":[123],"adaptation":[124],"transitions":[125,129],"original-light":[127],"retention":[128],"preserve":[131],"Bellman":[133],"coverage;":[134],"(iii)":[136],"anchored":[138],"Bellman-actor":[139],"regulariser":[140],"constrains":[142],"representation":[143],"policy":[145],"drift":[146],"from":[147],"original":[149],"policy.":[151],"Across":[152],"four":[153],"manipulation":[155],"tasks":[156],"significant":[158],"cross-workstation":[159],"illumination":[160],"variations,":[161],"substantially":[163],"improves":[164],"performance":[166],"standard":[168],"HIL-RL":[169],"collapses,":[170],"while":[171],"preserving":[172],"performance,":[174],"eliminating":[175],"need":[177],"re-collect":[179],"retrain":[182],"for":[183],"environment.":[188],"Project":[189],"page:":[190],"https://anonymous4365.github.io/RoHIL/":[191]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-21T00:00:00"}
