42,603 research outputs found
Multi-Task Domain Adaptation for Deep Learning of Instance Grasping from Simulation
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 utilizing simulated robot experiments. Our neural network
takes monocular RGB images and the instance segmentation mask of a specified
target object as inputs, and predicts the probability of successfully grasping
the specified object for each candidate motor command. The proposed transfer
learning framework trains a model for instance grasping in simulation and uses
a domain-adversarial loss to transfer the trained model to real robots using
indiscriminate grasping data, which is available both in simulation and the
real world. We evaluate our model in real-world robot experiments, comparing it
with alternative model architectures as well as an indiscriminate grasping
baseline.Comment: ICRA 201
Unsupervised Domain Adaptation by Backpropagation
Top-performing deep architectures are trained on massive amounts of labeled
data. In the absence of labeled data for a certain task, domain adaptation
often provides an attractive option given that labeled data of similar nature
but from a different domain (e.g. synthetic images) are available. Here, we
propose a new approach to domain adaptation in deep architectures that can be
trained on large amount of labeled data from the source domain and large amount
of unlabeled data from the target domain (no labeled target-domain data is
necessary).
As the training progresses, the approach promotes the emergence of "deep"
features that are (i) discriminative for the main learning task on the source
domain and (ii) invariant with respect to the shift between the domains. We
show that this adaptation behaviour can be achieved in almost any feed-forward
model by augmenting it with few standard layers and a simple new gradient
reversal layer. The resulting augmented architecture can be trained using
standard backpropagation.
Overall, the approach can be implemented with little effort using any of the
deep-learning packages. The method performs very well in a series of image
classification experiments, achieving adaptation effect in the presence of big
domain shifts and outperforming previous state-of-the-art on Office datasets
Efficient Optimization of Performance Measures by Classifier Adaptation
In practical applications, machine learning algorithms are often needed to
learn classifiers that optimize domain specific performance measures.
Previously, the research has focused on learning the needed classifier in
isolation, yet learning nonlinear classifier for nonlinear and nonsmooth
performance measures is still hard. In this paper, rather than learning the
needed classifier by optimizing specific performance measure directly, we
circumvent this problem by proposing a novel two-step approach called as CAPO,
namely to first train nonlinear auxiliary classifiers with existing learning
methods, and then to adapt auxiliary classifiers for specific performance
measures. In the first step, auxiliary classifiers can be obtained efficiently
by taking off-the-shelf learning algorithms. For the second step, we show that
the classifier adaptation problem can be reduced to a quadratic program
problem, which is similar to linear SVMperf and can be efficiently solved. By
exploiting nonlinear auxiliary classifiers, CAPO can generate nonlinear
classifier which optimizes a large variety of performance measures including
all the performance measure based on the contingency table and AUC, whilst
keeping high computational efficiency. Empirical studies show that CAPO is
effective and of high computational efficiency, and even it is more efficient
than linear SVMperf.Comment: 30 pages, 5 figures, to appear in IEEE Transactions on Pattern
Analysis and Machine Intelligence, 201
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