相关论文: Using Simulation and Domain Adaptation to Improve …

Training a semantic segmentation model requires a large amount of pixel-level annotation, hampering its application at scale. With computer graphics, we can generate almost unlimited training data with precise annotation. However,a deep…

Within the imitation learning paradigm, training generalist robots requires large-scale datasets obtainable only through diverse curation. Due to the relative ease to collect, human demonstrations constitute a valuable addition when…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Domain adaptation becomes more challenging with increasing gaps between source and target domains. Motivated from an empirical analysis on the reliability of labeled source data for the use of distancing target domains, we propose…

Domain adaptation for semantic segmentation has recently been actively studied to increase the generalization capabilities of deep learning models. The vast majority of the domain adaptation methods tackle single-source case, where the…

State-of-the-art deep learning methods have shown a remarkable capacity to model complex data domains, but struggle with geospatial data. In this paper, we introduce SpaceGAN, a novel generative model for geospatial domains that learns…

Object grasping is critical for many applications, which is also a challenging computer vision problem. However, for the clustered scene, current researches suffer from the problems of insufficient training data and the lacking of…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Purpose: Segmentation of surgical instruments in endoscopic videos is essential for automated surgical scene understanding and process modeling. However, relying on fully supervised deep learning for this task is challenging because manual…

Recent advances in deep learning significantly boost the performance of salient object detection (SOD) at the expense of labeling larger-scale per-pixel annotations. To relieve the burden of labor-intensive labeling, deep unsupervised SOD…

The application of deep machine learning methods in astronomy has exploded in the last decade, with new models showing remarkably improved performance on benchmark tasks. Not nearly enough attention is given to understanding the models'…

Simulation is increasingly being used for generating large labelled datasets in many machine learning problems. Recent methods have focused on adjusting simulator parameters with the goal of maximising accuracy on a validation task, usually…

Domain adaptation is especially important for robotics applications, where target domain training data is usually scarce and annotations are costly to obtain. We present a method for self-supervised domain adaptation for the scenario where…

Autonomous lander missions on extraterrestrial bodies will need to sample granular material while coping with domain shift, no matter how well a sampling strategy is tuned on Earth. This paper proposes an adaptive scooping strategy that…

Automatically detecting graspable regions from a single depth image is a key ingredient in cloth manipulation. The large variability of cloth deformations has motivated most of the current approaches to focus on identifying specific…

Animal pose estimation is an important field that has received increasing attention in the recent years. The main challenge for this task is the lack of labeled data. Existing works circumvent this problem with pseudo labels generated from…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

Domain adaption (DA) and domain generalization (DG) are two closely related methods which are both concerned with the task of assigning labels to an unlabeled data set. The only dissimilarity between these approaches is that DA can access…