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Gradient-Free Adversarial Training Against Image Corruption for Learning-based Steering
Yu Shen · Laura Zheng · Manli Shu · Weizi Li · Tom Goldstein · Ming Lin

Tue Dec 07 04:30 PM -- 06:00 PM (PST) @ None #None

We introduce a simple yet effective framework for improving the robustness of learning algorithms against image corruptions for autonomous driving. These corruptions can occur due to both internal (e.g., sensor noises and hardware abnormalities) and external factors (e.g., lighting, weather, visibility, and other environmental effects). Using sensitivity analysis with FID-based parameterization, we propose a novel algorithm exploiting basis perturbations to improve the overall performance of autonomous steering and other image processing tasks, such as classification and detection, for self-driving cars. Our model not only improves the performance on the original dataset, but also achieves significant performance improvement on datasets with multiple and unseen perturbations, up to 87% and 77%, respectively. A comparison between our approach and other SOTA techniques confirms the effectiveness of our technique in improving the robustness of neural network training for learning-based steering and other image processing tasks.

Author Information

Yu Shen (University of Maryland, College Park)
Laura Zheng (University of Maryland, College Park)
Manli Shu (University of Maryland, College Park)
Weizi Li (University of Memphis)
Tom Goldstein (Rice University)
Ming Lin (University of Maryland - College Park)

Ming C. Lin is currently the Elizabeth Stevinson Iribe Chair of Computer Science at the University of Maryland College Park and John R. & Louise S. Parker Distinguished Professor Emerita of Computer Science at the University of North Carolina (UNC), Chapel Hill. She was also an Honorary Visiting Chair Professor at Tsinghua University in China and at University of Technology Sydney in Australia. She obtained her B.S., M.S., and Ph.D. in Electrical Engineering and Computer Science from the University of California, Berkeley. She received several honors and awards, including the NSF Young Faculty Career Award in 1995, Honda Research Initiation Award in 1997, UNC/IBM Junior Faculty Development Award in 1999, UNC Hettleman Award for Scholarly Achievements in 2003, Beverly W. Long Distinguished Professorship 2007-2010, UNC WOWS Scholar 2009-2011, IEEE VGTC Virtual Reality Technical Achievement Award in 2010, and many best paper awards at international conferences. She is a Fellow of ACM, IEEE, and Eurographics.

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