We propose a novel approach for generating high-quality, synthetic data for domain-specific learning tasks, for which training data may not be readily available. We leverage recent progress in image-to-image translation to bridge the gap between simulated and real images, allowing us to generate realistic training data for real-world tasks using only unlabeled real-world images and a simulation. GeneSIS-RT ameliorates the burden of having to collect labeled real-world images and is a promising candidate for generating high-quality, domain-specific, synthetic data. To show the effectiveness of using GeneSIS-RT to create training data, we study two tasks: semantic segmentation and reactive obstacle avoidance. We demonstrate that learning algorithms trained using data generated by GeneSIS-RT make high-accuracy predictions and outperform systems trained on raw simulated data alone, and as well or better than those trained on real data. Finally, we use our data to train a quadcopter to fly 60 meters at speeds up to 3.4 m s through a cluttered environment, demonstrating that our GeneSIS-RT images can be used to learn to perform mission-critical tasks.
Finally, our work relies on recent progress in the domain of image translation @cite_1 and style transfer @cite_14 . There have been some promising results in this space, yet most such approaches use pairs of similar or corresponding images, e.g. two images taken from the same vantage point in both the real and simulated world. There are methods capable of relating sets of images. One such result is @cite_3 , in which the authors use a modified generative adversarial network to learn, among other things, a mapping from synthetic eyes to real eyes, and then use the resulting data for training simple tasks. Yet the construction of their network assumes low image variety and a close correspondence between the simulated and real-world images, making it difficult to use their approach to complex scenes containing simulated objects whose shape, color or texture do not closely reflect the real world. The CycleGAN approach @cite_2 to unpaired image translation is designed with such scenarios in mind and is therefore an appropriate candidate for our work.
@cite_14 @cite_1 @cite_3 @cite_2
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Recently, image-to-image translation has been made much progress owing to the success of conditional Generative Adversarial Networks (cGANs). However, it's still very challenging for translation tasks with the requirement of high-level visual information conversion, such as photo-to-caricature translation that requires satire, exaggeration, lifelikeness and artistry. We present an approach for learning to translate faces in the wild from the source photo domain to the target caricature domain with different styles, which can also be used for other high-level image-to-image translation tasks. In order to capture global structure with local statistics while translation, we design a dual pathway model of cGAN with one global discriminator and one patch discriminator. Beyond standard convolution (Conv), we propose a new parallel convolution (ParConv) to construct Parallel Convolutional Neural Networks (ParCNNs) for both global and patch discriminators, which can combine the information from previous layer with the current layer. For generator, we provide three more extra losses in association with adversarial loss to constrain consistency for generated output itself and with the target. Also the style can be controlled by the input style info vector. Experiments on photo-to-caricature translation of faces in the wild show considerable performance gain of our proposed method over state-of-the-art translation methods as well as its potential real applications. Unsupervised image-to-image translation is an important and challenging problem in computer vision. Given an image in the source domain, the goal is to learn the conditional distribution of corresponding images in the target domain, without seeing any pairs of corresponding images. While this conditional distribution is inherently multimodal, existing approaches make an overly simplified assumption, modeling it as a deterministic one-to-one mapping. As a result, they fail to generate diverse outputs from a given source domain image. To address this limitation, we propose a Multimodal Unsupervised Image-to-image Translation (MUNIT) framework. We assume that the image representation can be decomposed into a content code that is domain-invariant, and a style code that captures domain-specific properties. To translate an image to another domain, we recombine its content code with a random style code sampled from the style space of the target domain. We analyze the proposed framework and establish several theoretical results. Extensive experiments with comparisons to the state-of-the-art approaches further demonstrates the advantage of the proposed framework. Moreover, our framework allows users to control the style of translation outputs by providing an example style image. Code and pretrained models are available at this https URL Unsupervised image-to-image translation is an important and challenging problem in computer vision. Given an image in the source domain, the goal is to learn the conditional distribution of corresponding images in the target domain, without seeing any examples of corresponding image pairs. While this conditional distribution is inherently multimodal, existing approaches make an overly simplified assumption, modeling it as a deterministic one-to-one mapping. As a result, they fail to generate diverse outputs from a given source domain image. To address this limitation, we propose a Multimodal Unsupervised Image-to-image ( Translation (MUNIT) ) framework. We assume that the image representation can be decomposed into a content code that is domain-invariant, and a style code that captures domain-specific properties. To translate an image to another domain, we recombine its content code with a random style code sampled from the style space of the target domain. We analyze the proposed framework and establish several theoretical results. Extensive experiments with comparisons to state-of-the-art approaches further demonstrate the advantage of the proposed framework. Moreover, our framework allows users to control the style of translation outputs by providing an example style image. Code and pretrained models are available at https: github.com nvlabs MUNIT. Image-to-image translation tasks have been widely investigated with Generative Adversarial Networks (GANs) and dual learning. However, existing models lack the ability to control the translated results in the target domain and their results usually lack of diversity in the sense that a fixed image usually leads to (almost) deterministic translation result. In this paper, we study a new problem, conditional image-to-image translation, which is to translate an image from the source domain to the target domain conditioned on a given image in the target domain. It requires that the generated image should inherit some domain-specific features of the conditional image from the target domain. Therefore, changing the conditional image in the target domain will lead to diverse translation results for a fixed input image from the source domain, and therefore the conditional input image helps to control the translation results. We tackle this problem with unpaired data based on GANs and dual learning. We twist two conditional translation models (one translation from A domain to B domain, and the other one from B domain to A domain) together for inputs combination and reconstruction while preserving domain independent features. We carry out experiments on men's faces from-to women's faces translation and edges to shoes&bags translations. The results demonstrate the effectiveness of our proposed method.