On the Generalization Effects of Linear Transformations in Data Augmentation

Data augmentation is a powerful technique to improve performance in applications such as image and text classification tasks. Yet, there is little rigorous understanding of why and how various augmentations work. In this work, we consider a family of linear transformations and study their effects on the ridge estimator in an over-parametrized linear regression setting. First, we show that transformations which preserve the labels of the data can improve estimation by enlarging the span of the training data. Second, we show that transformations which mix data can improve estimation by playing a regularization effect. Finally, we validate our theoretical insights on MNIST. Based on the insights, we propose an augmentation scheme that searches over the space of transformations by how uncertain the model is about the transformed data. We validate our proposed scheme on image and text datasets. For example, our method outperforms RandAugment by 1.24% on CIFAR-100 using Wide-ResNet-28-10. Furthermore, we achieve comparable accuracy to the SoTA Adversarial AutoAugment on CIFAR datasets.Comment: International Conference on Machine learning (ICML) 2020. Added experimental results on ImageNe

Learning Compositional Visual Concepts with Mutual Consistency

Compositionality of semantic concepts in image synthesis and analysis is appealing as it can help in decomposing known and generatively recomposing unknown data. For instance, we may learn concepts of changing illumination, geometry or albedo of a scene, and try to recombine them to generate physically meaningful, but unseen data for training and testing. In practice however we often do not have samples from the joint concept space available: We may have data on illumination change in one data set and on geometric change in another one without complete overlap. We pose the following question: How can we learn two or more concepts jointly from different data sets with mutual consistency where we do not have samples from the full joint space? We present a novel answer in this paper based on cyclic consistency over multiple concepts, represented individually by generative adversarial networks (GANs). Our method, ConceptGAN, can be understood as a drop in for data augmentation to improve resilience for real world applications. Qualitative and quantitative evaluations demonstrate its efficacy in generating semantically meaningful images, as well as one shot face verification as an example application.Comment: 10 pages, 8 figures, 4 tables, CVPR 201

PIZZA: A Powerful Image-only Zero-Shot Zero-CAD Approach to 6 DoF Tracking

Estimating the relative pose of a new object without prior knowledge is a hard problem, while it is an ability very much needed in robotics and Augmented Reality. We present a method for tracking the 6D motion of objects in RGB video sequences when neither the training images nor the 3D geometry of the objects are available. In contrast to previous works, our method can therefore consider unknown objects in open world instantly, without requiring any prior information or a specific training phase. We consider two architectures, one based on two frames, and the other relying on a Transformer Encoder, which can exploit an arbitrary number of past frames. We train our architectures using only synthetic renderings with domain randomization. Our results on challenging datasets are on par with previous works that require much more information (training images of the target objects, 3D models, and/or depth data). Our source code is available at https://github.com/nv-nguyen/pizzaComment: 3DV Ora

Deep-LK for Efficient Adaptive Object Tracking

In this paper we present a new approach for efficient regression based object tracking which we refer to as Deep- LK. Our approach is closely related to the Generic Object Tracking Using Regression Networks (GOTURN) framework of Held et al. We make the following contributions. First, we demonstrate that there is a theoretical relationship between siamese regression networks like GOTURN and the classical Inverse-Compositional Lucas & Kanade (IC-LK) algorithm. Further, we demonstrate that unlike GOTURN IC-LK adapts its regressor to the appearance of the currently tracked frame. We argue that this missing property in GOTURN can be attributed to its poor performance on unseen objects and/or viewpoints. Second, we propose a novel framework for object tracking - which we refer to as Deep-LK - that is inspired by the IC-LK framework. Finally, we show impressive results demonstrating that Deep-LK substantially outperforms GOTURN. Additionally, we demonstrate comparable tracking performance to current state of the art deep-trackers whilst being an order of magnitude (i.e. 100 FPS) computationally efficient

Time-Efficient Hybrid Approach for Facial Expression Recognition

Facial expression recognition is an emerging research area for improving human and computer interaction. This research plays a significant role in the field of social communication, commercial enterprise, law enforcement, and other computer interactions. In this paper, we propose a time-efficient hybrid design for facial expression recognition, combining image pre-processing steps and different Convolutional Neural Network (CNN) structures providing better accuracy and greatly improved training time. We are predicting seven basic emotions of human faces: sadness, happiness, disgust, anger, fear, surprise and neutral. The model performs well regarding challenging facial expression recognition where the emotion expressed could be one of several due to their quite similar facial characteristics such as anger, disgust, and sadness. The experiment to test the model was conducted across multiple databases and different facial orientations, and to the best of our knowledge, the model provided an accuracy of about 89.58% for KDEF dataset, 100% accuracy for JAFFE dataset and 71.975% accuracy for combined (KDEF + JAFFE + SFEW) dataset across these different scenarios. Performance evaluation was done by cross-validation techniques to avoid bias towards a specific set of images from a database

Language-Conditioned Imitation Learning with Base Skill Priors under Unstructured Data

The growing interest in language-conditioned robot manipulation aims to develop robots capable of understanding and executing complex tasks, with the objective of enabling robots to interpret language commands and manipulate objects accordingly. While language-conditioned approaches demonstrate impressive capabilities for addressing tasks in familiar environments, they encounter limitations in adapting to unfamiliar environment settings. In this study, we propose a general-purpose, language-conditioned approach that combines base skill priors and imitation learning under unstructured data to enhance the algorithm's generalization in adapting to unfamiliar environments. We assess our model's performance in both simulated and real-world environments using a zero-shot setting. In the simulated environment, the proposed approach surpasses previously reported scores for CALVIN benchmark, especially in the challenging Zero-Shot Multi-Environment setting. The average completed task length, indicating the average number of tasks the agent can continuously complete, improves more than 2.5 times compared to the state-of-the-art method HULC. In addition, we conduct a zero-shot evaluation of our policy in a real-world setting, following training exclusively in simulated environments without additional specific adaptations. In this evaluation, we set up ten tasks and achieved an average 30% improvement in our approach compared to the current state-of-the-art approach, demonstrating a high generalization capability in both simulated environments and the real world. For further details, including access to our code and videos, please refer to our supplementary materials

Visualizing and Understanding Convolutional Networks

Large Convolutional Network models have recently demonstrated impressive classification performance on the ImageNet benchmark. However there is no clear understanding of why they perform so well, or how they might be improved. In this paper we address both issues. We introduce a novel visualization technique that gives insight into the function of intermediate feature layers and the operation of the classifier. We also perform an ablation study to discover the performance contribution from different model layers. This enables us to find model architectures that outperform Krizhevsky \etal on the ImageNet classification benchmark. We show our ImageNet model generalizes well to other datasets: when the softmax classifier is retrained, it convincingly beats the current state-of-the-art results on Caltech-101 and Caltech-256 datasets

Equivariant Data Augmentation for Generalization in Offline Reinforcement Learning

We present a novel approach to address the challenge of generalization in offline reinforcement learning (RL), where the agent learns from a fixed dataset without any additional interaction with the environment. Specifically, we aim to improve the agent's ability to generalize to out-of-distribution goals. To achieve this, we propose to learn a dynamics model and check if it is equivariant with respect to a fixed type of transformation, namely translations in the state space. We then use an entropy regularizer to increase the equivariant set and augment the dataset with the resulting transformed samples. Finally, we learn a new policy offline based on the augmented dataset, with an off-the-shelf offline RL algorithm. Our experimental results demonstrate that our approach can greatly improve the test performance of the policy on the considered environments