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Transfer learning can enhance classification performance of a target domain with insufficient training data by utilizing knowledge relating to the target domain from source domain. Nowadays, it is common to see two or more source domains available for knowledge transfer, which can improve performance of learning tasks in the target domain. However, the classification performance of the target domain decreases due to mismatching of probability distribution. Recent studies have shown that deep learning can build deep structures by extracting more effective features to resist the mismatching. In this paper, we propose a new multi-source deep transfer neural network algorithm, MultiDTNN, based on convolutional neural network and multi-source transfer learning. In MultiDTNN, joint probability distribution adaptation (JPDA) is used for reducing the mismatching between source and target domains to enhance features transferability of the source domain in deep neural networks. Then, the convolutional neural network is trained by utilizing the datasets of each source and target domain to obtain a set of classifiers. Finally, the designed selection strategy selects classifier with the smallest classification error on the target domain from the set to assemble the MultiDTNN framework. The effectiveness of the proposed MultiDTNN is verified by comparing it with other state-of-the-art deep transfer learning on three datasets. [ABSTRACT FROM AUTHOR]

It is crucial for robots to autonomously steer in complex environments safely without colliding with any obstacles. Compared to conventional methods, deep reinforcement learning-based methods are able to learn from past experiences automatically and enhance the generalization capability to cope with unseen circumstances. Therefore, we propose an end-to-end deep reinforcement learning algorithm in this paper to improve the performance of autonomous steering in complex environments. By embedding a branching noisy dueling architecture, the proposed model is capable of deriving steering commands directly from raw depth images with high efficiency. Specifically, our learning-based approach extracts the feature representation from depth inputs through convolutional neural networks and maps it to both linear and angular velocity commands simultaneously through different streams of the network. Moreover, the training framework is also meticulously designed to improve the learning efficiency and effectiveness. It is worth noting that the developed system is readily transferable from virtual training scenarios to real-world deployment without any fine-tuning by utilizing depth images. The proposed method is evaluated and compared with a series of baseline methods in various virtual environments. Experimental results demonstrate the superiority of the proposed model in terms of average reward, learning efficiency, success rate as well as computational time. Moreover, a variety of real-world experiments are also conducted which reveal the high adaptability of our model to both static and dynamic obstacle-cluttered environments. [ABSTRACT FROM AUTHOR]