相关论文: Domain Adaptation Using Adversarial Learning for A…

Domain adaptation (DA) and domain generalization (DG) have emerged as a solution to the domain shift problem where the distribution of the source and target data is different. The task of DG is more challenging than DA as the target data is…

Imitation learning holds the promise to address challenging robotic tasks such as autonomous navigation. It however requires a human supervisor to oversee the training process and send correct control commands to robots without feedback,…

Deep Reinforcement learning (DRL) is used to enable autonomous navigation in unknown environments. Most research assume perfect sensor data, but real-world environments may contain natural and artificial sensor noise and denial. Here, we…

We focus on Unsupervised Domain Adaptation (UDA) for the task of semantic segmentation. Recently, adversarial alignment has been widely adopted to match the marginal distribution of feature representations across two domains globally.…

Unsupervised domain adaptation(UDA) has been applied to image semantic segmentation to solve the problem of domain offset. However, in some difficult categories with poor recognition accuracy, the segmentation effects are still not ideal.…

This paper proposes a new unsupervised domain adaptation approach called Collaborative and Adversarial Network (CAN), which uses the domain-collaborative and domain-adversarial learning strategy for training the neural network. The…

Self-driving cars must detect other vehicles and pedestrians in 3D to plan safe routes and avoid collisions. State-of-the-art 3D object detectors, based on deep learning, have shown promising accuracy but are prone to over-fit to domain…

Unsupervised domain adaptive object detection aims to adapt detectors from a labelled source domain to an unlabelled target domain. Most existing works take a two-stage strategy that first generates region proposals and then detects objects…

Generating a surgical report in robot-assisted surgery, in the form of natural language expression of surgical scene understanding, can play a significant role in document entry tasks, surgical training, and post-operative analysis. Despite…

Recently, several methods based on generative adversarial network (GAN) have been proposed for the task of aligning cross-domain images or learning a joint distribution of cross-domain images. One of the methods is to use conditional GAN…

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…

Loop closure detection (LCD) is the key module in appearance based simultaneously localization and mapping (SLAM). However, in the real life, the appearance of visual inputs are usually affected by the illumination changes and texture…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

While existing work in robust deep learning has focused on small pixel-level norm-based perturbations, this may not account for perturbations encountered in several real-world settings. In many such cases although test data might not be…

Supervised learning with large scale labeled datasets and deep layered models has made a paradigm shift in diverse areas in learning and recognition. However, this approach still suffers generalization issues under the presence of a domain…

We study visual domain transfer for end-to-end imitation learning in a realistic and challenging setting where target-domain data are strictly off-policy, expert-free, and scarce. We first provide a theoretical analysis showing that the…

Unsupervised domain adaptive object detection is a challenging vision task where object detectors are adapted from a label-rich source domain to an unlabeled target domain. Recent advances prove the efficacy of the adversarial based domain…

The generalization capability of unsupervised domain adaptation can mitigate the need for extensive pixel-level annotations to train semantic segmentation networks by training models on synthetic data as a source with computer-generated…

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…

Recently, anatomical landmark detection has achieved great progresses on single-domain data, which usually assumes training and test sets are from the same domain. However, such an assumption is not always true in practice, which can cause…