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Synthetic-to-real transfer learning is a framework in which we pre-train models with synthetically generated images and ground-truth annotations for real tasks. Although synthetic images overcome the data scarcity issue, it remains unclear how the fine-tuning performance scales with pre-trained models, especially in terms of pre-training data size. In this study, we collect a number of empirical observations and uncover the secret. Through experiments, we observe a simple and general scaling law that consistently describes learning curves in various tasks, models, and complexities of synthesized pre-training data. Further, we develop a theory of transfer learning for a simplified scenario and confirm that the derived generalization bound is consistent with our empirical findings.
Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual data. While c
Though many attempts have been made in blind super-resolution to restore low-resolution images with unknown and complex degradations, they are still far from addressing general real-world degraded images. In this work, we extend the powerful ESRGAN t
We present a novel solution to the problem of simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation-reality gap, we learn a set of diverse policies that are parame
Multimodal pre-training has propelled great advancement in vision-and-language research. These large-scale pre-trained models, although successful, fatefully suffer from slow inference speed due to enormous computation cost mainly from cross-modal at
We introduce a new measure to evaluate the transferability of representations learned by classifiers. Our measure, the Log Expected Empirical Prediction (LEEP), is simple and easy to compute: when given a classifier trained on a source data set, it o