2,813 research outputs found
Addressing Appearance Change in Outdoor Robotics with Adversarial Domain Adaptation
Appearance changes due to weather and seasonal conditions represent a strong
impediment to the robust implementation of machine learning systems in outdoor
robotics. While supervised learning optimises a model for the training domain,
it will deliver degraded performance in application domains that underlie
distributional shifts caused by these changes. Traditionally, this problem has
been addressed via the collection of labelled data in multiple domains or by
imposing priors on the type of shift between both domains. We frame the problem
in the context of unsupervised domain adaptation and develop a framework for
applying adversarial techniques to adapt popular, state-of-the-art network
architectures with the additional objective to align features across domains.
Moreover, as adversarial training is notoriously unstable, we first perform an
extensive ablation study, adapting many techniques known to stabilise
generative adversarial networks, and evaluate on a surrogate classification
task with the same appearance change. The distilled insights are applied to the
problem of free-space segmentation for motion planning in autonomous driving.Comment: In Proceedings of the 2017 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS 2017
Adversarial Discriminative Domain Adaptation
Adversarial learning methods are a promising approach to training robust deep
networks, and can generate complex samples across diverse domains. They also
can improve recognition despite the presence of domain shift or dataset bias:
several adversarial approaches to unsupervised domain adaptation have recently
been introduced, which reduce the difference between the training and test
domain distributions and thus improve generalization performance. Prior
generative approaches show compelling visualizations, but are not optimal on
discriminative tasks and can be limited to smaller shifts. Prior discriminative
approaches could handle larger domain shifts, but imposed tied weights on the
model and did not exploit a GAN-based loss. We first outline a novel
generalized framework for adversarial adaptation, which subsumes recent
state-of-the-art approaches as special cases, and we use this generalized view
to better relate the prior approaches. We propose a previously unexplored
instance of our general framework which combines discriminative modeling,
untied weight sharing, and a GAN loss, which we call Adversarial Discriminative
Domain Adaptation (ADDA). We show that ADDA is more effective yet considerably
simpler than competing domain-adversarial methods, and demonstrate the promise
of our approach by exceeding state-of-the-art unsupervised adaptation results
on standard cross-domain digit classification tasks and a new more difficult
cross-modality object classification task
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