# Embodied Domain Adaptation for Object Detection

arXiv: https://arxiv.org/abs/2506.21860 · HTML: https://mlsanity.com/paper/2506.21860/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 38 of its 43 references that are in the map.
- First posted on arXiv 27 Jun 2025.

## Builds on (most cited first, 30 of 38)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [Learning Transferable Features with Deep Adaptation Networks](https://mlsanity.com/paper/1502.02791/) (2015)
- [Cascade R-CNN: Delving into High Quality Object Detection](https://mlsanity.com/paper/1712.00726/) (2017)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [YOLO-World: Real-Time Open-Vocabulary Object Detection](https://mlsanity.com/paper/2401.17270/) (2024)
- [Domain Adaptive Faster R-CNN for Object Detection in the Wild](https://mlsanity.com/paper/1803.03243/) (2018)
- [Semantic Foggy Scene Understanding with Synthetic Data](https://mlsanity.com/paper/1708.07819/) (2017)
- [Benchmarking Robustness in Object Detection: Autonomous Driving when Winter is Coming](https://mlsanity.com/paper/1907.07484/) (2019)
- [Unbiased Teacher for Semi-Supervised Object Detection](https://mlsanity.com/paper/2102.09480/) (2021)
- [Strong-Weak Distribution Alignment for Adaptive Object Detection](https://mlsanity.com/paper/1812.04798/) (2018)
- [Cross-Domain Weakly-Supervised Object Detection through Progressive Domain Adaptation](https://mlsanity.com/paper/1803.11365/) (2018)
- [Driving in the Matrix: Can Virtual Worlds Replace Human-Generated Annotations for Real World Tasks?](https://mlsanity.com/paper/1610.01983/) (2016)
- [Model Adaptation: Historical Contrastive Learning for Unsupervised Domain Adaptation without Source Data](https://mlsanity.com/paper/2110.03374/) (2021)
- [SHIFT: A Synthetic Driving Dataset for Continuous Multi-Task Domain Adaptation](https://mlsanity.com/paper/2206.08367/) (2022)
- [Probabilistic two-stage detection](https://mlsanity.com/paper/2103.07461/) (2021)
- [A Free Lunch for Unsupervised Domain Adaptive Object Detection without Source Data](https://mlsanity.com/paper/2012.05400/) (2020)
- [Semantic MapNet: Building Allocentric Semantic Maps and Representations from Egocentric Views](https://mlsanity.com/paper/2010.01191/) (2020)
- [Instance Relation Graph Guided Source-Free Domain Adaptive Object Detection](https://mlsanity.com/paper/2203.15793/) (2022)
- [Towards Online Domain Adaptive Object Detection](https://mlsanity.com/paper/2204.05289/) (2022)
- [ConfMix: Unsupervised Domain Adaptation for Object Detection via Confidence-based Mixing](https://mlsanity.com/paper/2210.11539/) (2022)
- [Interactron: Embodied Adaptive Object Detection](https://mlsanity.com/paper/2202.00660/) (2022)

## Built on by (most cited first, 3 of 3)

- [Towards Robust Cross-Dataset Object Detection Generalization under Domain Specificity](https://mlsanity.com/paper/2601.09497/) (2026)
- [See, Act, Adapt: Active Perception for Unsupervised Cross-Domain Visual Adaptation via Personalized VLM-Guided Agent](https://mlsanity.com/paper/2602.23806/) (2026)
- [Embodied Active Learning under Limited Annotation and Navigation Budget for Object Detection](https://mlsanity.com/paper/2607.15974/) (2026)

## Abstract (arXiv)

Mobile robots rely on object detectors for perception and object localization in indoor environments. However, standard closed-set methods struggle to handle the diverse objects and dynamic conditions encountered in real homes and labs. Open-vocabulary object detection (OVOD), driven by Vision Language Models (VLMs), extends beyond fixed labels but still struggles with domain shifts in indoor environments. We introduce a Source-Free Domain Adaptation (SFDA) approach that adapts a pre-trained model without accessing source data. We refine pseudo labels via temporal clustering, employ multi-scale threshold fusion, and apply a Mean Teacher framework with contrastive learning. Our Embodied Domain Adaptation for Object Detection (EDAOD) benchmark evaluates adaptation under sequential changes in lighting, layout, and object diversity. Our experiments show significant gains in zero-shot detection performance and flexible adaptation to dynamic indoor conditions.