Human videos offer a scalable way to train robot manipulation policies, but lack the action labels needed by standard imitation learning algorithms. Existing cross-embodiment approaches try to map human motion to robot actions, but often fail when the embodiments differ significantly. We propose X-Sim, a real-to-sim-to-real framework that uses object motion as a dense and transferable signal for learning robot policies. X-Sim starts by reconstructing a photorealistic simulation from an RGBD human video and tracking object trajectories to define object-centric rewards. These rewards are used to train a reinforcement learning (RL) policy in simulation. The learned policy is then distilled into an image-conditioned diffusion policy using synthetic rollouts rendered with varied viewpoints and lighting. To transfer to the real world, X-Sim introduces an online domain adaptation technique that aligns real and simulated observations during deployment. Importantly, X-Sim does not require any robot teleoperation data. We evaluate it across 5 manipulation tasks in 2 environments and show that it: (1) improves task progress by 30% on average over hand-tracking and sim-to-real baselines, (2) matches behavior cloning with 10x less data collection time, and (3) generalizes to new camera viewpoints and test-time changes. Code and videos are available at https://portal-cornell.github.io/X-Sim/.
Online Domain Adaptation (OnDA) is designed to handle unforeseeable domain changes at minimal cost that occur during the deployment of the model, lacking clear boundaries between the domain, such as sudden weather events. However, existing OnDA methods that rely solely on the model itself to adapt to the current domain often misidentify ambiguous classes amidst continuous domain shifts and pass on this erroneous knowledge to the next domain. To tackle this, we propose \textbf{RODASS}, a \textbf{R}obust \textbf{O}nline \textbf{D}omain \textbf{A}daptive \textbf{S}emantic \textbf{S}egmentation framework, which dynamically detects domain shifts and adjusts hyper-parameters to minimize training costs and error propagation. Specifically, we introduce the \textbf{D}ynamic \textbf{A}mbiguous \textbf{P}atch \textbf{Mask} (\textbf{DAP Mask}) strategy, which dynamically selects highly disturbed regions and masks these regions, mitigating error accumulation in ambiguous classes and enhancing the model's robustness against external noise in dynamic natural environments. Additionally, we present the \textbf{D}ynamic \textbf{S}ource \textbf{C}lass \textbf{Mix} (\textbf{DSC Mix}), a domain-aware mix method that augments target domain scenes with class-level source buffers, reducing the high uncertainty and noisy labels, thereby accelerating adaptation and offering a more efficient solution for online domain adaptation. Our approach outperforms state-of-the-art methods on widely used OnDA benchmarks while maintaining approximately 40 frames per second (FPS).
Online adaptation to distribution shifts in satellite image segmentation stands as a crucial yet underexplored problem. In this paper, we address source-free and online domain adaptation, i.e., test-time adaptation (TTA), for satellite images, with the focus on mitigating distribution shifts caused by various forms of image degradation. Towards achieving this goal, we propose a novel TTA approach involving two effective strategies. First, we progressively estimate the global Batch Normalization (BN) statistics of the target distribution with incoming data stream. Leveraging these statistics during inference has the ability to effectively reduce domain gap. Furthermore, we enhance prediction quality by refining the predicted masks using global class centers. Both strategies employ dynamic momentum for fast and stable convergence. Notably, our method is backpropagation-free and hence fast and lightweight, making it highly suitable for on-the-fly adaptation to new domain. Through comprehensive experiments across various domain adaptation scenarios, we demonstrate the robust performance of our method.
The goal of Online Domain Adaptation for semantic segmentation is to handle unforeseeable domain changes that occur during deployment, like sudden weather events. However, the high computational costs associated with brute-force adaptation make this paradigm unfeasible for real-world applications. In this paper we propose HAMLET, a Hardware-Aware Modular Least Expensive Training framework for real-time domain adaptation. Our approach includes a hardware-aware back-propagation orchestration agent (HAMT) and a dedicated domain-shift detector that enables active control over when and how the model is adapted (LT). Thanks to these advancements, our approach is capable of performing semantic segmentation while simultaneously adapting at more than 29FPS on a single consumer-grade GPU. Our framework's encouraging accuracy and speed trade-off is demonstrated on OnDA and SHIFT benchmarks through experimental results.
Unsupervised Domain Adaptation (UDA) aims at reducing the domain gap between training and testing data and is, in most cases, carried out in offline manner. However, domain changes may occur continuously and unpredictably during deployment (e.g. sudden weather changes). In such conditions, deep neural networks witness dramatic drops in accuracy and offline adaptation may not be enough to contrast it. In this paper, we tackle Online Domain Adaptation (OnDA) for semantic segmentation. We design a pipeline that is robust to continuous domain shifts, either gradual or sudden, and we evaluate it in the case of rainy and foggy scenarios. Our experiments show that our framework can effectively adapt to new domains during deployment, while not being affected by catastrophic forgetting of the previous domains.
Knowledge transfer across several streaming processes remain challenging problem not only because of different distributions of each stream but also because of rapidly changing and never-ending environments of data streams. Albeit growing research achievements in this area, most of existing works are developed for a single source domain which limits its resilience to exploit multi-source domains being beneficial to recover from concept drifts quickly and to avoid the negative transfer problem. An online domain adaptation technique under multisource streaming processes, namely automatic online multi-source domain adaptation (AOMSDA), is proposed in this paper. The online domain adaptation strategy of AOMSDA is formulated under a coupled generative and discriminative approach of denoising autoencoder (DAE) where the central moment discrepancy (CMD)-based regularizer is integrated to handle the existence of multi-source domains thereby taking advantage of complementary information sources. The asynchronous concept drifts taking place at different time periods are addressed by a self-organizing structure and a node re-weighting strategy. Our numerical study demonstrates that AOMSDA is capable of outperforming its counterparts in 5 of 8 study cases while the ablation study depicts the advantage of each learning component. In addition, AOMSDA is general for any number of source streams. The source code of AOMSDA is shared publicly in https://github.com/Renchunzi-Xie/AOMSDA.git.
Accurate evaluation of liver viability during its procurement is a challenging issue and has traditionally been addressed by taking invasive biopsy on liver. Recently, people have started to investigate on the non-invasive evaluation of liver viability during its procurement using the liver surface thermal images. However, existing works include the background noise in the thermal images and do not consider the cross-subject heterogeneity of livers, thus the viability evaluation accuracy can be affected. In this paper, we propose to use the irregular thermal data of the pure liver region, and the cross-subject liver evaluation information (i.e., the available viability label information in cross-subject livers), for the real-time evaluation of a new liver's viability. To achieve this objective, we extract features of irregular thermal data based on tools from graph signal processing (GSP), and propose an online domain adaptation (DA) and classification framework using the GSP features of cross-subject livers. A multiconvex block coordinate descent based algorithm is designed to jointly learn the domain-invariant features during online DA and learn the classifier. Our proposed framework is applied to the liver procurement data, and classifies the liver viability accurately.
Due to the expensive nature of field data gathering, the lack of training data often limits the performance of Automatic Target Recognition (ATR) systems. This problem is often addressed with domain adaptation techniques, however the currently existing methods fail to satisfy the constraints of resource and time-limited underwater systems. We propose to address this issue via an online fine-tuning of the ATR algorithm using a novel data-selection method. Our proposed data-mining approach relies on visual similarity and outperforms the traditionally employed hard-mining methods. We present a comparative performance analysis in a wide range of simulated environments and highlight the benefits of using our method for the rapid adaptation to previously unseen environments.
Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy maps, learning the parameters of such models demand considerable computational time, discouraging them from being used in real-time and large-scale applications such as autonomous driving. Recognizing the fact that real-world structures exhibit similar geometric features across a variety of urban environments, in this paper, we argue that it is redundant to learn all geometry dependent parameters from scratch. Instead, we propose a theoretical framework building upon the theory of optimal transport to adapt model parameters to account for changes in the environment, significantly amortizing the training cost. Further, with the use of high-fidelity driving simulators and real-world datasets, we demonstrate how parameters of 2D and 3D occupancy maps can be automatically adapted to accord with local spatial changes. We validate various domain adaptation paradigms through a series of experiments, ranging from inter-domain feature transfer to simulation-to-real-world feature transfer. Experiments verified the possibility of estimating parameters with a negligible computational and memory cost, enabling large-scale probabilistic mapping in urban environments.
Human Activity Recognition (HAR) from devices like smartphone accelerometers is a fundamental problem in ubiquitous computing. Machine learning based recognition models often perform poorly when applied to new users that were not part of the training data. Previous work has addressed this challenge by personalizing general recognition models to the unique motion pattern of a new user in a static batch setting. They require target user data to be available upfront. The more challenging online setting has received less attention. No samples from the target user are available in advance, but they arrive sequentially. Additionally, the motion pattern of users may change over time. Thus, adapting to new and forgetting old information must be traded off. Finally, the target user should not have to do any work to use the recognition system by, say, labeling any activities. Our work addresses all of these challenges by proposing an unsupervised online domain adaptation algorithm. Both classification and personalization happen continuously and incrementally in real time. Our solution works by aligning the feature distributions of all subjects, be they sources or the target, in hidden neural network layers. To this end, we normalize the input of a layer with user-specific mean and variance statistics. During training, these statistics are computed over user-specific batches. In the online phase, they are estimated incrementally for any new target user.
Transferring knowledge across many streaming processes remains an uncharted territory in the existing literature and features unique characteristics: no labelled instance of the target domain, covariate shift of source and target domain, different period of drifts in the source and target domains. Autonomous transfer learning (ATL) is proposed in this paper as a flexible deep learning approach for the online unsupervised transfer learning problem across many streaming processes. ATL offers an online domain adaptation strategy via the generative and discriminative phases coupled with the KL divergence based optimization strategy to produce a domain invariant network while putting forward an elastic network structure. It automatically evolves its network structure from scratch with/without the presence of ground truth to overcome independent concept drifts in the source and target domain. The rigorous numerical evaluation has been conducted along with a comparison against recently published works. ATL demonstrates improved performance while showing significantly faster training speed than its counterparts.
Technological developments call for increasing perception and action capabilities of robots. Among other skills, vision systems that can adapt to any possible change in the working conditions are needed. Since these conditions are unpredictable, we need benchmarks which allow to assess the generalization and robustness capabilities of our visual recognition algorithms. In this work we focus on robotic kitting in unconstrained scenarios. As a first contribution, we present a new visual dataset for the kitting task. Differently from standard object recognition datasets, we provide images of the same objects acquired under various conditions where camera, illumination and background are changed. This novel dataset allows for testing the robustness of robot visual recognition algorithms to a series of different domain shifts both in isolation and unified. Our second contribution is a novel online adaptation algorithm for deep models, based on batch-normalization layers, which allows to continuously adapt a model to the current working conditions. Differently from standard domain adaptation algorithms, it does not require any image from the target domain at training time. We benchmark the performance of the algorithm on the proposed dataset, showing its capability to fill the gap between the performances of a standard architecture and its counterpart adapted offline to the given target domain.
Automatically detecting, labeling, and tracking objects in videos depends first and foremost on accurate category-level object detectors. These might, however, not always be available in practice, as acquiring high-quality large scale labeled training datasets is either too costly or impractical for all possible real-world application scenarios. A scalable solution consists in re-using object detectors pre-trained on generic datasets. This work is the first to investigate the problem of on-line domain adaptation of object detectors for causal multi-object tracking (MOT). We propose to alleviate the dataset bias by adapting detectors from category to instances, and back: (i) we jointly learn all target models by adapting them from the pre-trained one, and (ii) we also adapt the pre-trained model on-line. We introduce an on-line multi-task learning algorithm to efficiently share parameters and reduce drift, while gradually improving recall. Our approach is applicable to any linear object detector, and we evaluate both cheap "mini-Fisher Vectors" and expensive "off-the-shelf" ConvNet features. We quantitatively measure the benefit of our domain adaptation strategy on the KITTI tracking benchmark and on a new dataset (PASCAL-to-KITTI) we introduce to study the domain mismatch problem in MOT.