相关论文: Learning to Augment Synthetic Images for Sim2Real …

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

Models trained on synthetic images often face degraded generalization to real data. As a convention, these models are often initialized with ImageNet pre-trained representation. Yet the role of ImageNet knowledge is seldom discussed despite…

With a good image understanding capability, can we manipulate the images high level semantic representation? Such transformation operation can be used to generate or retrieve similar images but with a desired modification (for example…

Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization often fail to capture fine-grained dynamics, limiting their…

Deep reinforcement learning (RL) agents often fail to generalize to unseen scenarios, even when they are trained on many instances of semantically similar environments. Data augmentation has recently been shown to improve the sample…

The need for large amounts of training and validation data is a huge concern in scaling AI algorithms for autonomous driving. Semantic Image Synthesis (SIS), or label-to-image translation, promises to address this issue by translating…

Recent advances in generative deep learning have enabled the creation of high-quality synthetic images in text-to-image generation. Prior work shows that fine-tuning a pretrained diffusion model on ImageNet and generating synthetic training…

In recent years, image manipulation is becoming increasingly more accessible, yielding more natural-looking images, owing to the modern tools in image processing and computer vision techniques. The task of the identification of forged…

Data augmentation policies drastically improve the performance of image recognition tasks, especially when the policies are optimized for the target data and tasks. In this paper, we propose to optimize image recognition models and data…

A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embodiment. Existing methods often fall short: 3D point cloud…

Domain randomization (DR) is a successful technique for learning robust policies for robot systems, when the dynamics of the target robot system are unknown. The success of policies trained with domain randomization however, is highly…

Recent studies in Vision-and-Language Navigation (VLN) train RL agents to execute natural-language navigation instructions in photorealistic environments, as a step towards robots that can follow human instructions. However, given the…

We propose a method to predict the sim-to-real transfer performance of RL policies. Our transfer metric simplifies the selection of training setups (such as algorithm, hyperparameters, randomizations) and policies in simulation, without the…

Due to limited resources and public safety concerns, deep reinforcement learning (RL) agents for many cyber-physical systems (e.g., autonomous vehicles) are first trained in simulators. However, when deployed in real world environments,…

Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically…

Despite recent progress in Reinforcement Learning for robotics applications, many tasks remain prohibitively difficult to solve because of the expensive interaction cost. Transfer learning helps reduce the training time in the target domain…

Eye image segmentation is a critical step in eye tracking that has great influence over the final gaze estimate. Segmentation models trained using supervised machine learning can excel at this task, their effectiveness is determined by the…

Data augmentation methods are indispensable heuristics to boost the performance of deep neural networks, especially in image recognition tasks. Recently, several studies have shown that augmentation strategies found by search algorithms…

How can robots learn and adapt to new tasks and situations with little data? Systematic exploration and simulation are crucial tools for efficient robot learning. We present a novel black-box policy search algorithm focused on…

Unsupervised transfer of object recognition models from synthetic to real data is an important problem with many potential applications. The challenge is how to "adapt" a model trained on simulated images so that it performs well on…