68,054 research outputs found
Incremental Adversarial Domain Adaptation for Continually Changing Environments
Continuous appearance shifts such as changes in weather and lighting
conditions can impact the performance of deployed machine learning models.
While unsupervised domain adaptation aims to address this challenge, current
approaches do not utilise the continuity of the occurring shifts. In
particular, many robotics applications exhibit these conditions and thus
facilitate the potential to incrementally adapt a learnt model over minor
shifts which integrate to massive differences over time. Our work presents an
adversarial approach for lifelong, incremental domain adaptation which benefits
from unsupervised alignment to a series of intermediate domains which
successively diverge from the labelled source domain. We empirically
demonstrate that our incremental approach improves handling of large appearance
changes, e.g. day to night, on a traversable-path segmentation task compared
with a direct, single alignment step approach. Furthermore, by approximating
the feature distribution for the source domain with a generative adversarial
network, the deployment module can be rendered fully independent of retaining
potentially large amounts of the related source training data for only a minor
reduction in performance.Comment: International Conference on Robotics and Automation 201
DeeSIL: Deep-Shallow Incremental Learning
Incremental Learning (IL) is an interesting AI problem when the algorithm is
assumed to work on a budget. This is especially true when IL is modeled using a
deep learning approach, where two com- plex challenges arise due to limited
memory, which induces catastrophic forgetting and delays related to the
retraining needed in order to incorpo- rate new classes. Here we introduce
DeeSIL, an adaptation of a known transfer learning scheme that combines a fixed
deep representation used as feature extractor and learning independent shallow
classifiers to in- crease recognition capacity. This scheme tackles the two
aforementioned challenges since it works well with a limited memory budget and
each new concept can be added within a minute. Moreover, since no deep re-
training is needed when the model is incremented, DeeSIL can integrate larger
amounts of initial data that provide more transferable features. Performance is
evaluated on ImageNet LSVRC 2012 against three state of the art algorithms.
Results show that, at scale, DeeSIL performance is 23 and 33 points higher than
the best baseline when using the same and more initial data respectively
Incremental multi-domain learning with network latent tensor factorization
The prominence of deep learning, large amount of annotated data and
increasingly powerful hardware made it possible to reach remarkable performance
for supervised classification tasks, in many cases saturating the training
sets. However the resulting models are specialized to a single very specific
task and domain. Adapting the learned classification to new domains is a hard
problem due to at least three reasons: (1) the new domains and the tasks might
be drastically different; (2) there might be very limited amount of annotated
data on the new domain and (3) full training of a new model for each new task
is prohibitive in terms of computation and memory, due to the sheer number of
parameters of deep CNNs. In this paper, we present a method to learn
new-domains and tasks incrementally, building on prior knowledge from already
learned tasks and without catastrophic forgetting. We do so by jointly
parametrizing weights across layers using low-rank Tucker structure. The core
is task agnostic while a set of task specific factors are learnt on each new
domain. We show that leveraging tensor structure enables better performance
than simply using matrix operations. Joint tensor modelling also naturally
leverages correlations across different layers. Compared with previous methods
which have focused on adapting each layer separately, our approach results in
more compact representations for each new task/domain. We apply the proposed
method to the 10 datasets of the Visual Decathlon Challenge and show that our
method offers on average about 7.5x reduction in number of parameters and
competitive performance in terms of both classification accuracy and Decathlon
score.Comment: AAAI2
Boosting Deep Open World Recognition by Clustering
While convolutional neural networks have brought significant advances in
robot vision, their ability is often limited to closed world scenarios, where
the number of semantic concepts to be recognized is determined by the available
training set. Since it is practically impossible to capture all possible
semantic concepts present in the real world in a single training set, we need
to break the closed world assumption, equipping our robot with the capability
to act in an open world. To provide such ability, a robot vision system should
be able to (i) identify whether an instance does not belong to the set of known
categories (i.e. open set recognition), and (ii) extend its knowledge to learn
new classes over time (i.e. incremental learning). In this work, we show how we
can boost the performance of deep open world recognition algorithms by means of
a new loss formulation enforcing a global to local clustering of class-specific
features. In particular, a first loss term, i.e. global clustering, forces the
network to map samples closer to the class centroid they belong to while the
second one, local clustering, shapes the representation space in such a way
that samples of the same class get closer in the representation space while
pushing away neighbours belonging to other classes. Moreover, we propose a
strategy to learn class-specific rejection thresholds, instead of heuristically
estimating a single global threshold, as in previous works. Experiments on
RGB-D Object and Core50 datasets show the effectiveness of our approach.Comment: IROS/RAL 202
Temporal Model Adaptation for Person Re-Identification
Person re-identification is an open and challenging problem in computer
vision. Majority of the efforts have been spent either to design the best
feature representation or to learn the optimal matching metric. Most approaches
have neglected the problem of adapting the selected features or the learned
model over time. To address such a problem, we propose a temporal model
adaptation scheme with human in the loop. We first introduce a
similarity-dissimilarity learning method which can be trained in an incremental
fashion by means of a stochastic alternating directions methods of multipliers
optimization procedure. Then, to achieve temporal adaptation with limited human
effort, we exploit a graph-based approach to present the user only the most
informative probe-gallery matches that should be used to update the model.
Results on three datasets have shown that our approach performs on par or even
better than state-of-the-art approaches while reducing the manual pairwise
labeling effort by about 80%
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