Towards Meta-learning of Deep Architectures for Efficient Domain Adaptation

This paper proposes an efficient domain adaption approach using deep learning along with transfer and meta-level learning. The objective is to identify how many blocks (i.e. groups of consecutive layers) of a pre-trained image classification network need to be fine-tuned based on the characteristics of the new task. In order to investigate it, a number of experiments have been conducted using different pre-trained networks and image datasets. The networks were fine-tuned, starting from the blocks containing the output layers and progressively moving towards the input layer, on various tasks with characteristics different from the original task. The amount of fine-tuning of a pre-trained network (i.e. the number of top layers requiring adaptation) is usually dependent on the complexity, size, and domain similarity of the original and new tasks. Considering these characteristics, a question arises of how many blocks of the network need to be fine-tuned to get maximum possible accuracy? Which of a number of available pre-trained networks require fine-tuning of the minimum number of blocks to achieve this accuracy? The experiments, that involve three network architectures each divided into 10 blocks on average and five datasets, empirically confirm the intuition that there exists a relationship between the similarity of the original and new tasks and the depth of network needed to fine-tune in order to achieve accuracy comparable with that of a model trained from scratch. Further analysis shows that the fine-tuning of the final top blocks of the network, which represent the high-level features, is sufficient in most of the cases. Moreover, we have empirically verified that less similar tasks require fine-tuning of deeper portions of the network, which however is still better than training a network from scratch

DoShiCo Challenge: Domain Shift in Control Prediction

Training deep neural network policies end-to-end for real-world applications so far requires big demonstration datasets in the real world or big sets consisting of a large variety of realistic and closely related 3D CAD models. These real or virtual data should, moreover, have very similar characteristics to the conditions expected at test time. These stringent requirements and the time consuming data collection processes that they entail, are currently the most important impediment that keeps deep reinforcement learning from being deployed in real-world applications. Therefore, in this work we advocate an alternative approach, where instead of avoiding any domain shift by carefully selecting the training data, the goal is to learn a policy that can cope with it. To this end, we propose the DoShiCo challenge: to train a model in very basic synthetic environments, far from realistic, in a way that it can be applied in more realistic environments as well as take the control decisions on real-world data. In particular, we focus on the task of collision avoidance for drones. We created a set of simulated environments that can be used as benchmark and implemented a baseline method, exploiting depth prediction as an auxiliary task to help overcome the domain shift. Even though the policy is trained in very basic environments, it can learn to fly without collisions in a very different realistic simulated environment. Of course several benchmarks for reinforcement learning already exist - but they never include a large domain shift. On the other hand, several benchmarks in computer vision focus on the domain shift, but they take the form of a static datasets instead of simulated environments. In this work we claim that it is crucial to take the two challenges together in one benchmark.Comment: Published at SIMPAR 2018. Please visit the paper webpage for more information, a movie and code for reproducing results: https://kkelchte.github.io/doshic