Adapting Deep Visuomotor Representations with Weak Pairwise Constraints

  title={Adapting Deep Visuomotor Representations with Weak Pairwise Constraints},
  author={Eric Tzeng and Coline Devin and Judy Hoffman and Chelsea Finn and Pieter Abbeel and Sergey Levine and Kate Saenko and Trevor Darrell},
Real-world robotics problems often occur in domains that differ significantly from the robot’s prior training environment. For many robotic control tasks, real world experience is expensive to obtain, but data is easy to collect in either an instrumented environment or in simulation. We propose a novel domain adaptation approach for robot perception that adapts visual representations learned on a large easy-to-obtain source dataset (e.g. synthetic images) to a target real-world domain, without… CONTINUE READING
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