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  On the Transfer of Inductive Bias from Simulation to the Real World: a New Disentanglement Dataset

Gondal, M., Wüthrich, M., Miladinovic, D., Locatello, F., Breidt, M., Volchkov, V., et al. (submitted). On the Transfer of Inductive Bias from Simulation to the Real World: a New Disentanglement Dataset.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0003-CAB1-1 Version Permalink: http://hdl.handle.net/21.11116/0000-0003-CAB2-0
Genre: Journal Article

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https://arxiv.org/abs/1906.03292 (Any fulltext)
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 Creators:
Gondal, MW, Author
Wüthrich, M, Author
Miladinovic, D, Author
Locatello, F, Author
Breidt, M1, 2, Author              
Volchkov, V, Author
Akpo, J, Author
Bachem, O, Author
Schölkopf, B3, Author              
Bauer, S, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              
3Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society, ou_1497647              

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 Abstract: Learning meaningful and compact representations with structurally disentangled semantic aspects is considered to be of key importance in representation learning. Since real-world data is notoriously costly to collect, many recent state-of-the-art disentanglement models have heavily relied on synthetic toy data-sets. In this paper, we propose a novel data-set which consists of over 450'000 images of physical 3D objects with seven factors of variation, such as object color, shape, size and position. In order to be able to control all the factors of variation precisely, we built an experimental platform where the objects are being moved by a robotic arm. In addition, we provide two more datasets which consist of simulations of the experimental setup. These datasets provide for the first time the possibility to systematically investigate how well different disentanglement methods perform on real data in comparison to simulation, and how simulated data can be leveraged to build better representations of the real world.

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 Dates: 2019-06
 Publication Status: Submitted
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