Domain adversarial learning aligns the feature distributions across the source and target domains in a two-player minimax game. Existing domain adversarial networks generally assume identical label space across different domains. In the presence of big data, there is strong motivation of transferring deep models from existing big domains to unknown small domains. This paper introduces partial domain adaptation as a new domain adaptation scenario, which relaxes the fully shared label space assumption to that the source label space subsumes the target label space. Previous methods typically match the whole source domain to the target domain, which are vulnerable to negative transfer for the partial domain adaptation problem due to the large mismatch between label spaces. We present Partial Adversarial Domain Adaptation (PADA), which simultaneously alleviates negative transfer by down-weighing the data of outlier source classes for training both source classifier and domain adversary, and promotes positive transfer by matching the feature distributions in the shared label space. Experiments show that PADA exceeds state-of-the-art results for partial domain adaptation tasks on several datasets.
These methods may be restricted by the assumption that the source and target domains share the same label space, which does not hold in partial domain adaptation. Adaptive Deep Learning @cite_0 , somehow reduces the negative transfer of outlier classes by localizing the image regions more responsible for the domain shift as well as the regions that are shared among domains to guide the attention of the classifier. But for images with no regions related to the target domain, the attention mechanism may fail by wrongly localizing related regions.
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A commercial robot, trained by its manufacturer to recognize a predefined number and type of objects, might be used in many settings, that will in general differ in their illumination conditions, background, type and degree of clutter, and so on. Recent computer vision works tackle this generalization issue through domain adaptation methods, assuming as source the visual domain where the system is trained and as target the domain of deployment. All approaches assume to have access to images from all classes of the target during training, an unrealistic condition in robotics applications. We address this issue proposing an algorithm that takes into account the specific needs of robot vision. Our intuition is that the nature of the domain shift experienced mostly in robotics is local. We exploit this through the learning of maps that spatially ground the domain and quantify the degree of shift, embedded into an end-to-end deep domain adaptation architecture. By explicitly localizing the roots of the domain shift we significantly reduce the number of parameters of the architecture to tune, we gain the flexibility necessary to deal with subset of categories in the target domain at training time, and we provide a clear feedback on the rationale behind any classification decision, which can be exploited in human-robot interactions. Experiments on two different settings of the iCub World database confirm the suitability of our method for robot vision.