Being able to train machine learning models on simulated data can be of great interest in several applications, one of them being for autonomous driving of cars. The reason is that it is easier to collect large labeled datasets as well as performing reinforcement learning in simulations. However, transferring these learned models to the real-world environment can be hard due to differences between the simulation and the reality; for example, differences in material, textures, lighting and content. One approach is to use domain adaptation, by making the simulations as similar as possible to the reality. The thesis's main focus is to investigate domain adaptation as a way to meet the reality-gap, and also compare it to an alternative method, domain randomization. Two different methods of domain adaptation; one adapting the simulated data to reality, and the other adapting the test data to simulation, are compared to using domain randomization. These are evaluated with a classifier making decisions for a robot car while driving in reality. The evaluation consists of a quantitative evaluation on real-world data and a qualitative evaluation aiming to observe how well the robot is driving and avoiding obstacles. The results show that the reality-gap is very large and that the examined methods reduce it, with the two using domain adaptation resulting in the largest decrease. However, none of them led to satisfactory driving.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-182125 |
| Date | January 2022 |
| Creators | Forsberg, Fanny |
| Publisher | Linköpings universitet, Datorseende |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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