相关论文: SimGAN: Hybrid Simulator Identification for Domain…

Training a model to perform a task typically requires a large amount of data from the domains in which the task will be applied. However, it is often the case that data are abundant in some domains but scarce in others. Domain adaptation…

Recent advances in Reinforcement Learning (RL) have surpassed human-level performance in many simulated environments. However, existing reinforcement learning techniques are incapable of explicitly incorporating already known…

Unsupervised domain adaptation for object detection is a challenging problem with many real-world applications. Unfortunately, it has received much less attention than supervised object detection. Models that try to address this task tend…

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.…

Automated surgical gesture recognition is of great importance in robot-assisted minimally invasive surgery. However, existing methods assume that training and testing data are from the same domain, which suffers from severe performance…

Simulation-to-decision learning enables safe policy training in digital environments without risking real-world deployment, and has become essential in mission-critical domains such as supply chains and industrial systems. However,…

Despite the recent success of deep reinforcement learning (RL), domain adaptation remains an open problem. Although the generalization ability of RL agents is critical for the real-world applicability of Deep RL, zero-shot policy transfer…

We present VoloGAN, an adversarial domain adaptation network that translates synthetic RGB-D images of a high-quality 3D model of a person, into RGB-D images that could be generated with a consumer depth sensor. This system is especially…

Typically a classifier trained on a given dataset (source domain) does not performs well if it is tested on data acquired in a different setting (target domain). This is the problem that domain adaptation (DA) tries to overcome and, while…

Object recognition from images means to automatically find object(s) of interest and to return their category and location information. Benefiting from research on deep learning, like convolutional neural networks~(CNNs) and generative…

We introduce a new representation learning algorithm suited to the context of domain adaptation, in which data at training and test time come from similar but different distributions. Our algorithm is directly inspired by theory on domain…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data…

Domain adversarial adaptation in a continual setting poses a significant challenge due to the limitations on accessing previous source domain data. Despite extensive research in continual learning, the task of adversarial adaptation cannot…

Partial domain adaptation aims to transfer knowledge from a label-rich source domain to a label-scarce target domain which relaxes the fully shared label space assumption across different domains. In this more general and practical…

The control of nonlinear systems with unknown dynamics has been a significant field of research for many years. This paper presents a novel data-driven optimal adaptive control structure with less control effort and faster adaptation than…

Long-Term visual localization under changing environments is a challenging problem in autonomous driving and mobile robotics due to season, illumination variance, etc. Image retrieval for localization is an efficient and effective solution…

Reinforcement learning often requires extensive training data. Simulation-to-real transfer offers a promising approach to address this challenge in robotics. While differentiable simulators offer improved sample efficiency through exact…

For deep learning applications, the massive data development (e.g., collecting, labeling), which is an essential process in building practical applications, still incurs seriously high costs. In this work, we propose an effective data…

Physics engines play an important role in robot planning and control; however, many real-world control problems involve complex contact dynamics that cannot be characterized analytically. Most physics engines therefore employ .…