This work considers robot keypoint estimation on color images as a supervised machine learning task. We propose the use of probabilistically created renderings to overcome the lack of labeled real images. Rather than sampling from stationary distributions, our approach introduces a feedback mechanism that constantly adapts probability distributions according to current training progress. Initial results show, our approach achieves near-human-level accuracy on real images. Additionally, we demonstrate that feedback leads to fewer required training steps, while maintaining the same model quality on synthetic data sets.
From a data augmentation perspective, the family of Generative Adversarial Networks (GANs) @cite_4 provide a generic framework for artificial data generation from noisy input. However, application to our use case requires generated images to carry precise meta-information (e.g joint positions). Such conditional GAN approaches @cite_2 are much harder to train and require a large amount of labeled input. Because we try to avoid tedious real data acquisition, we do not consider this approach for the remainder of this work. However, we do highlight the work of @cite_5 who propose the use of GANs in combination with deterministic simulators to add the necessary levels of realism to images, while guaranteeing pixel-exact semantic context.
@cite_5 @cite_4 @cite_2
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Generative Adversarial Nets (GANs) have shown promise in image generation and semi-supervised learning (SSL). However, existing GANs in SSL have two problems: (1) the generator and the discriminator (i.e. the classifier) may not be optimal at the same time; and (2) the generator cannot control the semantics of the generated samples. The problems essentially arise from the two-player formulation, where a single discriminator shares incompatible roles of identifying fake samples and predicting labels and it only estimates the data without considering the labels. To address the problems, we present triple generative adversarial net (Triple-GAN), which consists of three players---a generator, a discriminator and a classifier. The generator and the classifier characterize the conditional distributions between images and labels, and the discriminator solely focuses on identifying fake image-label pairs. We design compatible utilities to ensure that the distributions characterized by the classifier and the generator both converge to the data distribution. Our results on various datasets demonstrate that Triple-GAN as a unified model can simultaneously (1) achieve the state-of-the-art classification results among deep generative models, and (2) disentangle the classes and styles of the input and transfer smoothly in the data space via interpolation in the latent space class-conditionally. Generative Adversarial Nets (GANs) have shown promise in image generation and semi-supervised learning (SSL). However, existing GANs in SSL have two problems: (1) the generator and the discriminator (i.e. the classifier) may not be optimal at the same time; and (2) the generator cannot control the semantics of the generated samples. The problems essentially arise from the two-player formulation, where a single discriminator shares incompatible roles of identifying fake samples and predicting labels and it only estimates the data without considering the labels. To address the problems, we present triple generative adversarial net (Triple-GAN), which consists of three players---a generator, a discriminator and a classifier. The generator and the classifier characterize the conditional distributions between images and labels, and the discriminator solely focuses on identifying fake image-label pairs. We design compatible utilities to ensure that the distributions characterized by the classifier and the generator both converge to the data distribution. Our results on various datasets demonstrate that Triple-GAN as a unified model can simultaneously (1) achieve the state-of-the-art classification results among deep generative models, and (2) disentangle the classes and styles of the input and transfer smoothly in the data space via interpolation in the latent space class-conditionally. Generative Adversarial Networks (GANs) have gathered a lot of attention from the computer vision community, yielding impressive results for image generation. Advances in the adversarial generation of natural language from noise however are not commensurate with the progress made in generating images, and still lag far behind likelihood based methods. In this paper, we take a step towards generating natural language with a GAN objective alone. We introduce a simple baseline that addresses the discrete output space problem without relying on gradient estimators and show that it is able to achieve state-of-the-art results on a Chinese poem generation dataset. We present quantitative results on generating sentences from context-free and probabilistic context-free grammars, and qualitative language modeling results. A conditional version is also described that can generate sequences conditioned on sentence characteristics. We propose in this paper a new approach to train the Generative Adversarial Nets (GANs) with a mixture of generators to overcome the mode collapsing problem. The main intuition is to employ multiple generators, instead of using a single one as in the original GAN. The idea is simple, yet proven to be extremely effective at covering diverse data modes, easily overcoming the mode collapsing problem and delivering state-of-the-art results. A minimax formulation was able to establish among a classifier, a discriminator, and a set of generators in a similar spirit with GAN. Generators create samples that are intended to come from the same distribution as the training data, whilst the discriminator determines whether samples are true data or generated by generators, and the classifier specifies which generator a sample comes from. The distinguishing feature is that internal samples are created from multiple generators, and then one of them will be randomly selected as final output similar to the mechanism of a probabilistic mixture model. We term our method Mixture Generative Adversarial Nets (MGAN). We develop theoretical analysis to prove that, at the equilibrium, the Jensen-Shannon divergence (JSD) between the mixture of generators’ distributions and the empirical data distribution is minimal, whilst the JSD among generators’ distributions is maximal, hence effectively avoiding the mode collapsing problem. By utilizing parameter sharing, our proposed model adds minimal computational cost to the standard GAN, and thus can also efficiently scale to large-scale datasets. We conduct extensive experiments on synthetic 2D data and natural image databases (CIFAR-10, STL-10 and ImageNet) to demonstrate the superior performance of our MGAN in achieving state-of-the-art Inception scores over latest baselines, generating diverse and appealing recognizable objects at different resolutions, and specializing in capturing different types of objects by the generators.