4,047 research outputs found
Deep Object-Centric Representations for Generalizable Robot Learning
Robotic manipulation in complex open-world scenarios requires both reliable
physical manipulation skills and effective and generalizable perception. In
this paper, we propose a method where general purpose pretrained visual models
serve as an object-centric prior for the perception system of a learned policy.
We devise an object-level attentional mechanism that can be used to determine
relevant objects from a few trajectories or demonstrations, and then
immediately incorporate those objects into a learned policy. A task-independent
meta-attention locates possible objects in the scene, and a task-specific
attention identifies which objects are predictive of the trajectories. The
scope of the task-specific attention is easily adjusted by showing
demonstrations with distractor objects or with diverse relevant objects. Our
results indicate that this approach exhibits good generalization across object
instances using very few samples, and can be used to learn a variety of
manipulation tasks using reinforcement learning
ROAD: Reality Oriented Adaptation for Semantic Segmentation of Urban Scenes
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 learned model to real world scenarios. This is mainly due to two
reasons: 1) the model overfits to synthetic images, making the convolutional
filters incompetent to extract informative representation for real images; 2)
there is a distribution difference between synthetic and real data, which is
also known as the domain adaptation problem. To this end, we propose a new
reality oriented adaptation approach for urban scene semantic segmentation by
learning from synthetic data. First, we propose a target guided distillation
approach to learn the real image style, which is achieved by training the
segmentation model to imitate a pretrained real style model using real images.
Second, we further take advantage of the intrinsic spatial structure presented
in urban scene images, and propose a spatial-aware adaptation scheme to
effectively align the distribution of two domains. These two modules can be
readily integrated with existing state-of-the-art semantic segmentation
networks to improve their generalizability when adapting from synthetic to real
urban scenes. We evaluate the proposed method on Cityscapes dataset by adapting
from GTAV and SYNTHIA datasets, where the results demonstrate the effectiveness
of our method.Comment: Add experiments on SYNTHIA, CVPR 2018 camera-ready versio
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