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Register a new userUnsupervised Domain Adaptation for Visual Navigation
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Added by
Yue Wu
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Advances in visual navigation methods have led to intelligent embodied navigation agents capable of learning meaningful representations from raw RGB images and perform a wide variety of tasks involving structural and semantic reasoning. However, most learning-based navigation policies are trained and tested in simulation environments. In order for these policies to be practically useful, they need to be transferred to the real-world. In this paper, we propose an unsupervised domain adaptation method for visual navigation. Our method translates the images in the target domain to the source domain such that the translation is consistent with the representations learned by the navigation policy. The proposed method outperforms several baselines across two different navigation tasks in simulation. We further show that our method can be used to transfer the navigation policies learned in simulation to the real world.
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Extensive Unsupervised Domain Adaptation (UDA) studies have shown great success in practice by learning transferable representations across a labeled source domain and an unlabeled target domain with deep models. However, previous works focus on improving the generalization ability of UDA models on clean examples without considering the adversarial robustness, which is crucial in real-world applications. Conventional adversarial training methods are not suitable for the adversarial robustness on the unlabeled target domain of UDA since they train models with adversarial examples generated by the supervised loss function. In this work, we leverage intermediate representations learned by multiple robust ImageNet models to improve the robustness of UDA models. Our method works by aligning the features of the UDA model with the robust features learned by ImageNet pre-trained models along with domain adaptation training. It utilizes both labeled and unlabeled domains and instills robustness without any adversarial intervention or label requirement during domain adaptation training. Experimental results show that our method significantly improves adversarial robustness compared to the baseline while keeping clean accuracy on various UDA benchmarks.
Domain adaptation is an important technique to alleviate performance degradation caused by domain shift, e.g., when training and test data come from different domains. Most existing deep adaptation methods focus on reducing domain shift by matching marginal feature distributions through deep transformations on the input features, due to the unavailability of target domain labels. We show that domain shift may still exist via label distribution shift at the classifier, thus deteriorating model performances. To alleviate this issue, we propose an approximate joint distribution matching scheme by exploiting prediction uncertainty. Specifically, we use a Bayesian neural network to quantify prediction uncertainty of a classifier. By imposing distribution matching on both features and labels (via uncertainty), label distribution mismatching in source and target data is effectively alleviated, encouraging the classifier to produce consistent predictions across domains. We also propose a few techniques to improve our method by adaptively reweighting domain adaptation loss to achieve nontrivial distribution matching and stable training. Comparisons with state of the art unsupervised domain adaptation methods on three popular benchmark datasets demonstrate the superiority of our approach, especially on the effectiveness of alleviating negative transfer.
The assumption that training and testing samples are generated from the same distribution does not always hold for real-world machine-learning applications. The procedure of tackling this discrepancy between the training (source) and testing (target) domains is known as domain adaptation. We propose an unsupervised version of domain adaptation that considers the presence of only unlabelled data in the target domain. Our approach centers on finding correspondences between samples of each domain. The correspondences are obtained by treating the source and target samples as graphs and using a convex criterion to match them. The criteria used are first-order and second-order similarities between the graphs as well as a class-based regularization. We have also developed a computationally efficient routine for the convex optimization, thus allowing the proposed method to be used widely. To verify the effectiveness of the proposed method, computer simulations were conducted on synthetic, image classification and sentiment classification datasets. Results validated that the proposed local sample-to-sample matching method out-performs traditional moment-matching methods and is competitive with respect to current local domain-adaptation methods.
Learning sensorimotor control policies from high-dimensional images crucially relies on the quality of the underlying visual representations. Prior works show that structured latent space such as visual keypoints often outperforms unstructured representations for robotic control. However, most of these representations, whether structured or unstructured are learned in a 2D space even though the control tasks are usually performed in a 3D environment. In this work, we propose a framework to learn such a 3D geometric structure directly from images in an end-to-end unsupervised manner. The input images are embedded into latent 3D keypoints via a differentiable encoder which is trained to optimize both a multi-view consistency loss and downstream task objective. These discovered 3D keypoints tend to meaningfully capture robot joints as well as object movements in a consistent manner across both time and 3D space. The proposed approach outperforms prior state-of-art methods across a variety of reinforcement learning benchmarks. Code and videos at https://buoyancy99.github.io/unsup-3d-keypoints/
Recently, considerable effort has been devoted to deep domain adaptation in computer vision and machine learning communities. However, most of existing work only concentrates on learning shared feature representation by minimizing the distribution discrepancy across different domains. Due to the fact that all the domain alignment approaches can only reduce, but not remove the domain shift. Target domain samples distributed near the edge of the clusters, or far from their corresponding class centers are easily to be misclassified by the hyperplane learned from the source domain. To alleviate this issue, we propose to joint domain alignment and discriminative feature learning, which could benefit both domain alignment and final classification. Specifically, an instance-based discriminative feature learning method and a center-based discriminative feature learning method are proposed, both of which guarantee the domain invariant features with better intra-class compactness and inter-class separability. Extensive experiments show that learning the discriminative features in the shared feature space can significantly boost the performance of deep domain adaptation methods.
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