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We present a method of improving visual place recognition and metric localisation under very strong appear- ance change. We learn an invertable generator that can trans- form the conditions of images, e.g. from day to night, summer to…

We propose a novel method for gradient-based optimization of black-box simulators using differentiable local surrogate models. In fields such as physics and engineering, many processes are modeled with non-differentiable simulators with…

Domain-adaptive trajectory imitation is a skill that some predators learn for survival, by mapping dynamic information from one domain (their speed and steering direction) to a different domain (current position of the moving prey). An…

The interpretation of spatial references is highly contextual, requiring joint inference over both language and the environment. We consider the task of spatial reasoning in a simulated environment, where an agent can act and receive…

Traditional machine learning assumes that training and test sets are derived from the same distribution; however, this assumption does not always hold in practical applications. This distribution disparity can lead to severe performance…

Domain adaptation seeks to leverage the abundant label information in a source domain to improve classification performance in a target domain with limited labels. While the field has seen extensive methodological development, its…

Semantic segmentation is a key problem for many computer vision tasks. While approaches based on convolutional neural networks constantly break new records on different benchmarks, generalizing well to diverse testing environments remains a…

We address the issue of domain gap when making use of synthetic data to train a scene-specific object detector and pose estimator. While previous works have shown that the constraints of learning a scene-specific model can be leveraged to…

Domain adaptation for semantic segmentation aims to improve the model performance in the presence of a distribution shift between source and target domain. Leveraging the supervision from auxiliary tasks~(such as depth estimation) has the…

In computer vision, one is often confronted with problems of domain shifts, which occur when one applies a classifier trained on a source dataset to target data sharing similar characteristics (e.g. same classes), but also different latent…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

Deep Neural Networks (DNNs) have often supplied state-of-the-art results in pattern recognition tasks. Despite their advances, however, the existence of adversarial examples have caught the attention of the community. Many existing works…

Depth estimation from monocular images is an important task in localization and 3D reconstruction pipelines for bronchoscopic navigation. Various supervised and self-supervised deep learning-based approaches have proven themselves on this…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

Unsupervised Domain Adaptation (UDA) aims at improving the generalization capability of a model trained on a source domain to perform well on a target domain for which no labeled data is available. In this paper, we consider the semantic…

Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…

Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…

Domain Randomization (DR) is known to require a significant amount of training data for good performance. We argue that this is due to DR's strategy of random data generation using a uniform distribution over simulation parameters, as a…

We consider the problem of unsupervised domain adaptation in semantic segmentation. The key in this campaign consists in reducing the domain shift, i.e., enforcing the data distributions of the two domains to be similar. A popular strategy…

Domain adaptation, a pivotal branch of transfer learning, aims to enhance the performance of machine learning models when deployed in target domains with distinct data distributions. This is particularly critical for object detection tasks,…