# Pseudo-Trilateral Adversarial Training for Domain Adaptive Traversability Prediction

arXiv: https://arxiv.org/abs/2306.14370 · HTML: https://mlsanity.com/paper/2306.14370/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 49 of its 70 references that are in the map.
- First posted on arXiv 26 Jun 2023.

## Builds on (most cited first, 30 of 49)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [Domain-Adversarial Training of Neural Networks](https://mlsanity.com/paper/1505.07818/) (2015)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Pyramid Scene Parsing Network](https://mlsanity.com/paper/1612.01105/) (2016)
- [Rethinking Atrous Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1706.05587/) (2017)
- [Unsupervised Representation Learning with Deep Convolutional Generative Adversarial Networks](https://mlsanity.com/paper/1511.06434/) (2015)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Rethinking Semantic Segmentation from a Sequence-to-Sequence Perspective with Transformers](https://mlsanity.com/paper/2012.15840/) (2020)
- [Multi-Scale Context Aggregation by Dilated Convolutions](https://mlsanity.com/paper/1511.07122/) (2015)
- [CyCADA: Cycle-Consistent Adversarial Domain Adaptation](https://mlsanity.com/paper/1711.03213/) (2017)
- [Playing for Data: Ground Truth from Computer Games](https://mlsanity.com/paper/1608.02192/) (2016)
- [Maximum Classifier Discrepancy for Unsupervised Domain Adaptation](https://mlsanity.com/paper/1712.02560/) (2017)
- [Learning to Adapt Structured Output Space for Semantic Segmentation](https://mlsanity.com/paper/1802.10349/) (2018)
- [Confidence Regularized Self-Training](https://mlsanity.com/paper/1908.09822/) (2019)
- [A Survey of Unsupervised Deep Domain Adaptation](https://mlsanity.com/paper/1812.02849/) (2018)
- [DAFormer: Improving Network Architectures and Training Strategies for Domain-Adaptive Semantic Segmentation](https://mlsanity.com/paper/2111.14887/) (2021)
- [Taking A Closer Look at Domain Shift: Category-level Adversaries for Semantics Consistent Domain Adaptation](https://mlsanity.com/paper/1809.09478/) (2018)
- [FCNs in the Wild: Pixel-level Adversarial and Constraint-based Adaptation](https://mlsanity.com/paper/1612.02649/) (2016)
- [Cognitive Mapping and Planning for Visual Navigation](https://mlsanity.com/paper/1702.03920/) (2017)
- [Unsupervised Intra-domain Adaptation for Semantic Segmentation through Self-Supervision](https://mlsanity.com/paper/2004.07703/) (2020)
- [Neural Topological SLAM for Visual Navigation](https://mlsanity.com/paper/2005.12256/) (2020)
- [Instance Adaptive Self-Training for Unsupervised Domain Adaptation](https://mlsanity.com/paper/2008.12197/) (2020)

## Abstract (arXiv)

Traversability prediction is a fundamental perception capability for autonomous navigation. Deep neural networks (DNNs) have been widely used to predict traversability during the last decade. The performance of DNNs is significantly boosted by exploiting a large amount of data. However, the diversity of data in different domains imposes significant gaps in the prediction performance. In this work, we make efforts to reduce the gaps by proposing a novel pseudo-trilateral adversarial model that adopts a coarse-to-fine alignment (CALI) to perform unsupervised domain adaptation (UDA). Our aim is to transfer the perception model with high data efficiency, eliminate the prohibitively expensive data labeling, and improve the generalization capability during the adaptation from easy-to-access source domains to various challenging target domains. Existing UDA methods usually adopt a bilateral zero-sum game structure. We prove that our CALI model -- a pseudo-trilateral game structure is advantageous over existing bilateral game structures. This proposed work bridges theoretical analyses and algorithm designs, leading to an efficient UDA model with easy and stable training. We further develop a variant of CALI -- Informed CALI (ICALI), which is inspired by the recent success of mixup data augmentation techniques and mixes informative regions based on the results of CALI. This mixture step provides an explicit bridging between the two domains and exposes underperforming classes more during training. We show the superiorities of our proposed models over multiple baselines in several challenging domain adaptation setups. To further validate the effectiveness of our proposed models, we then combine our perception model with a visual planner to build a navigation system and show the high reliability of our model in complex natural environments.