{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/few-shot-image-to-semantics-translation-for","title":"Few-Shot Image-to-Semantics Translation for Policy Transfer in Reinforcement Learning","arxiv_id":"2301.13343","date":"2023-01-31","proceeding":null,"authors":["Rei Sato","Kazuto Fukuchi","Jun Sakuma","Youhei Akimoto"],"abstract":"We investigate policy transfer using image-to-semantics translation to mitigate learning difficulties in vision-based robotics control agents. This problem assumes two environments: a simulator environment with semantics, that is, low-dimensional and essential information, as the state space, and a real-world environment with images as the state space. By learning mapping from images to semantics, we can transfer a policy, pre-trained in the simulator, to the real world, thereby eliminating real-world on-policy agent interactions to learn, which are costly and risky. In addition, using image-to-semantics mapping is advantageous in terms of the computational efficiency to train the policy and the interpretability of the obtained policy over other types of sim-to-real transfer strategies. To tackle the main difficulty in learning image-to-semantics mapping, namely the human annotation cost for producing a training dataset, we propose two techniques: pair augmentation with the transition function in the simulator environment and active learning. We observed a reduction in the annotation cost without a decline in the performance of the transfer, and the proposed approach outperformed the existing approach without annotation.","url_abs":"https://arxiv.org/abs/2301.13343v1","url_pdf":"https://arxiv.org/pdf/2301.13343v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"few-shot-image-to-semantics-translation-for","repo_url":"https://github.com/madoibito80/im2sem","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"active-learning","task_name":"Active Learning"},{"task_slug":"computational-efficiency","task_name":"Computational Efficiency"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"},{"task_slug":"translation","task_name":"Translation"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}