When Autonomous Systems Meet Accuracy and Transferability through AI: A Survey

With widespread applications of artificial intelligence (AI), the capabilities of the perception, understanding, decision-making and control for autonomous systems have improved significantly in the past years. When autonomous systems consider the performance of accuracy and transferability, several AI methods, like adversarial learning, reinforcement learning (RL) and meta-learning, show their powerful performance. Here, we review the learning-based approaches in autonomous systems from the perspectives of accuracy and transferability. Accuracy means that a well-trained model shows good results during the testing phase, in which the testing set shares a same task or a data distribution with the training set. Transferability means that when a well-trained model is transferred to other testing domains, the accuracy is still good. Firstly, we introduce some basic concepts of transfer learning and then present some preliminaries of adversarial learning, RL and meta-learning. Secondly, we focus on reviewing the accuracy or transferability or both of them to show the advantages of adversarial learning, like generative adversarial networks (GANs), in typical computer vision tasks in autonomous systems, including image style transfer, image superresolution, image deblurring/dehazing/rain removal, semantic segmentation, depth estimation, pedestrian detection and person re-identification (re-ID). Then, we further review the performance of RL and meta-learning from the aspects of accuracy or transferability or both of them in autonomous systems, involving pedestrian tracking, robot navigation and robotic manipulation. Finally, we discuss several challenges and future topics for using adversarial learning, RL and meta-learning in autonomous systems

Yes, we GAN: Applying Adversarial Techniques for Autonomous Driving

Generative Adversarial Networks (GAN) have gained a lot of popularity from their introduction in 2014 till present. Research on GAN is rapidly growing and there are many variants of the original GAN focusing on various aspects of deep learning. GAN are perceived as the most impactful direction of machine learning in the last decade. This paper focuses on the application of GAN in autonomous driving including topics such as advanced data augmentation, loss function learning, semi-supervised learning, etc. We formalize and review key applications of adversarial techniques and discuss challenges and open problems to be addressed.Comment: Accepted for publication in Electronic Imaging, Autonomous Vehicles and Machines 2019. arXiv admin note: text overlap with arXiv:1606.05908 by other author

Adversarial Gain

Adversarial examples can be defined as inputs to a model which induce a mistake - where the model output is different than that of an oracle, perhaps in surprising or malicious ways. Original models of adversarial attacks are primarily studied in the context of classification and computer vision tasks. While several attacks have been proposed in natural language processing (NLP) settings, they often vary in defining the parameters of an attack and what a successful attack would look like. The goal of this work is to propose a unifying model of adversarial examples suitable for NLP tasks in both generative and classification settings. We define the notion of adversarial gain: based in control theory, it is a measure of the change in the output of a system relative to the perturbation of the input (caused by the so-called adversary) presented to the learner. This definition, as we show, can be used under different feature spaces and distance conditions to determine attack or defense effectiveness across different intuitive manifolds. This notion of adversarial gain not only provides a useful way for evaluating adversaries and defenses, but can act as a building block for future work in robustness under adversaries due to its rooted nature in stability and manifold theory

Data Augmentation Generative Adversarial Networks

Effective training of neural networks requires much data. In the low-data regime, parameters are underdetermined, and learnt networks generalise poorly. Data Augmentation alleviates this by using existing data more effectively. However standard data augmentation produces only limited plausible alternative data. Given there is potential to generate a much broader set of augmentations, we design and train a generative model to do data augmentation. The model, based on image conditional Generative Adversarial Networks, takes data from a source domain and learns to take any data item and generalise it to generate other within-class data items. As this generative process does not depend on the classes themselves, it can be applied to novel unseen classes of data. We show that a Data Augmentation Generative Adversarial Network (DAGAN) augments standard vanilla classifiers well. We also show a DAGAN can enhance few-shot learning systems such as Matching Networks. We demonstrate these approaches on Omniglot, on EMNIST having learnt the DAGAN on Omniglot, and VGG-Face data. In our experiments we can see over 13% increase in accuracy in the low-data regime experiments in Omniglot (from 69% to 82%), EMNIST (73.9% to 76%) and VGG-Face (4.5% to 12%); in Matching Networks for Omniglot we observe an increase of 0.5% (from 96.9% to 97.4%) and an increase of 1.8% in EMNIST (from 59.5% to 61.3%).Comment: 10 page

Latent Code and Text-based Generative Adversarial Networks for Soft-text Generation

Text generation with generative adversarial networks (GANs) can be divided into the text-based and code-based categories according to the type of signals used for discrimination. In this work, we introduce a novel text-based approach called Soft-GAN to effectively exploit GAN setup for text generation. We demonstrate how autoencoders (AEs) can be used for providing a continuous representation of sentences, which we will refer to as soft-text. This soft representation will be used in GAN discrimination to synthesize similar soft-texts. We also propose hybrid latent code and text-based GAN (LATEXT-GAN) approaches with one or more discriminators, in which a combination of the latent code and the soft-text is used for GAN discriminations. We perform a number of subjective and objective experiments on two well-known datasets (SNLI and Image COCO) to validate our techniques. We discuss the results using several evaluation metrics and show that the proposed techniques outperform the traditional GAN-based text-generation methods

Self-training with Noisy Student improves ImageNet classification

We present Noisy Student Training, a semi-supervised learning approach that works well even when labeled data is abundant. Noisy Student Training achieves 88.4% top-1 accuracy on ImageNet, which is 2.0% better than the state-of-the-art model that requires 3.5B weakly labeled Instagram images. On robustness test sets, it improves ImageNet-A top-1 accuracy from 61.0% to 83.7%, reduces ImageNet-C mean corruption error from 45.7 to 28.3, and reduces ImageNet-P mean flip rate from 27.8 to 12.2. Noisy Student Training extends the idea of self-training and distillation with the use of equal-or-larger student models and noise added to the student during learning. On ImageNet, we first train an EfficientNet model on labeled images and use it as a teacher to generate pseudo labels for 300M unlabeled images. We then train a larger EfficientNet as a student model on the combination of labeled and pseudo labeled images. We iterate this process by putting back the student as the teacher. During the learning of the student, we inject noise such as dropout, stochastic depth, and data augmentation via RandAugment to the student so that the student generalizes better than the teacher. Models are available at https://github.com/tensorflow/tpu/tree/master/models/official/efficientnet. Code is available at https://github.com/google-research/noisystudent.Comment: CVPR 202

Towards an Understanding of Neural Networks in Natural-Image Spaces

Two major uncertainties, dataset bias and adversarial examples, prevail in state-of-the-art AI algorithms with deep neural networks. In this paper, we present an intuitive explanation for these issues as well as an interpretation of the performance of deep networks in a natural-image space. The explanation consists of two parts: the philosophy of neural networks and a hypothetical model of natural-image spaces. Following the explanation, we 1) demonstrate that the values of training samples differ, 2) provide incremental boost to the accuracy of a CIFAR-10 classifier by introducing an additional "random-noise" category during training, 3) alleviate over-fitting thereby enhancing the robustness against adversarial examples by detecting and excluding illusive training samples that are consistently misclassified. Our overall contribution is therefore twofold. First, while most existing algorithms treat data equally and have a strong appetite for more data, we demonstrate in contrast that an individual datum can sometimes have disproportionate and counterproductive influence and that it is not always better to train neural networks with more data. Next, we consider more thoughtful strategies by taking into account the geometric and topological properties of natural-image spaces to which deep networks are applied

Transfer Adaptation Learning: A Decade Survey

The world we see is ever-changing and it always changes with people, things, and the environment. Domain is referred to as the state of the world at a certain moment. A research problem is characterized as transfer adaptation learning (TAL) when it needs knowledge correspondence between different moments/domains. Conventional machine learning aims to find a model with the minimum expected risk on test data by minimizing the regularized empirical risk on the training data, which, however, supposes that the training and test data share similar joint probability distribution. TAL aims to build models that can perform tasks of target domain by learning knowledge from a semantic related but distribution different source domain. It is an energetic research filed of increasing influence and importance, which is presenting a blowout publication trend. This paper surveys the advances of TAL methodologies in the past decade, and the technical challenges and essential problems of TAL have been observed and discussed with deep insights and new perspectives. Broader solutions of transfer adaptation learning being created by researchers are identified, i.e., instance re-weighting adaptation, feature adaptation, classifier adaptation, deep network adaptation and adversarial adaptation, which are beyond the early semi-supervised and unsupervised split. The survey helps researchers rapidly but comprehensively understand and identify the research foundation, research status, theoretical limitations, future challenges and under-studied issues (universality, interpretability, and credibility) to be broken in the field toward universal representation and safe applications in open-world scenarios.Comment: 26 pages, 4 figure

An Adversarial Approach to High-Quality, Sentiment-Controlled Neural Dialogue Generation

In this work, we propose a method for neural dialogue response generation that allows not only generating semantically reasonable responses according to the dialogue history, but also explicitly controlling the sentiment of the response via sentiment labels. Our proposed model is based on the paradigm of conditional adversarial learning; the training of a sentiment-controlled dialogue generator is assisted by an adversarial discriminator which assesses the fluency and feasibility of the response generating from the dialogue history and a given sentiment label. Because of the flexibility of our framework, the generator could be a standard sequence-to-sequence (SEQ2SEQ) model or a more complicated one such as a conditional variational autoencoder-based SEQ2SEQ model. Experimental results using automatic and human evaluation both demonstrate that our proposed framework is able to generate both semantically reasonable and sentiment-controlled dialogue responses.Comment: DEEP-DIAL 201

Exploring Speech Enhancement with Generative Adversarial Networks for Robust Speech Recognition

We investigate the effectiveness of generative adversarial networks (GANs) for speech enhancement, in the context of improving noise robustness of automatic speech recognition (ASR) systems. Prior work demonstrates that GANs can effectively suppress additive noise in raw waveform speech signals, improving perceptual quality metrics; however this technique was not justified in the context of ASR. In this work, we conduct a detailed study to measure the effectiveness of GANs in enhancing speech contaminated by both additive and reverberant noise. Motivated by recent advances in image processing, we propose operating GANs on log-Mel filterbank spectra instead of waveforms, which requires less computation and is more robust to reverberant noise. While GAN enhancement improves the performance of a clean-trained ASR system on noisy speech, it falls short of the performance achieved by conventional multi-style training (MTR). By appending the GAN-enhanced features to the noisy inputs and retraining, we achieve a 7% WER improvement relative to the MTR system.Comment: Published as a conference paper at ICASSP 201