相关论文: Object Detection Using Sim2Real Domain Randomizati…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

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…

Object detection algorithms allow to enable many interesting applications which can be implemented in different devices, such as smartphones and wearable devices. In the context of a cultural site, implementing these algorithms in a…

Object detection is a crucial component in autonomous vehicle systems. It enables the vehicle to perceive and understand its environment by identifying and locating various objects around it. By utilizing advanced imaging and deep learning…

Synthetic data generation is an appealing approach to generate novel traffic scenarios in autonomous driving. However, deep learning perception algorithms trained solely on synthetic data encounter serious performance drops when they are…

Object manipulation requires accurate object pose estimation. In open environments, robots encounter unknown objects, which requires semantic understanding in order to generalize both to known categories and beyond. To resolve this…

We introduce a novel unsupervised domain adaptation approach for object detection. We aim to alleviate the imperfect translation problem of pixel-level adaptations, and the source-biased discriminativity problem of feature-level adaptations…

Performance on benchmark datasets has drastically improved with advances in deep learning. Still, cross-dataset generalization performance remains relatively low due to the domain shift that can occur between two different datasets. This…

Deep learning has enabled remarkable advances in scene understanding, particularly in semantic segmentation tasks. Yet, current state of the art approaches are limited to a closed set of classes, and fail when facing novel elements, also…

Exploiting synthetic data to learn deep models has attracted increasing attention in recent years. However, the intrinsic domain difference between synthetic and real images usually causes a significant performance drop when applying the…

Domain Randomization (DR) is commonly used for sim2real transfer of reinforcement learning (RL) policies in robotics. Most DR approaches require a simulator with a fixed set of tunable parameters from the start of the training, from which…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Synthetic data is a scalable alternative to manual supervision, but it requires overcoming the sim-to-real domain gap. This discrepancy between virtual and real worlds is addressed by two seemingly opposed approaches: improving the realism…

We present an integrated (or end-to-end) framework for the Real2Sim2Real problem of manipulating deformable linear objects (DLOs) based on visual perception. Working with a parameterised set of DLOs, we use likelihood-free inference (LFI)…

Domain shift is a well known problem where a model trained on a particular domain (source) does not perform well when exposed to samples from a different domain (target). Unsupervised methods that can adapt to domain shift are highly…

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,…

Tiny Object Detection is challenging due to small size, low resolution, occlusion, background clutter, lighting conditions and small object-to-image ratio. Further, object detection methodologies often make underlying assumption that both…

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object…

External localization is an essential part for the indoor operation of small or cost-efficient robots, as they are used, for example, in swarm robotics. We introduce a two-stage localization and instance identification framework for…

This study aims to learn a translation from visible to infrared imagery, bridging the domain gap between the two modalities so as to improve accuracy on downstream tasks including object detection. Previous approaches attempt to perform…