Fine-tuning the deep convolution neural network(CNN) using a pre-trained model helps transfer knowledge learned from larger datasets to the target task. While the accuracy could be largely improved even when the training dataset is small, the transfer learning outcome is usually constrained by the pre-trained model with close CNN weights (Liu et al., 2019), as the backpropagation here brings smaller updates to deeper CNN layers. In this work, we propose RIFLE - a simple yet effective strategy that deepens backpropagation in transfer learning settings, through periodically Re-Initializing the Fully-connected LayEr with random scratch during the fine-tuning procedure. RIFLE brings meaningful updates to the weights of deep CNN layers and improves low-level feature learning, while the effects of randomization can be easily converged throughout the overall learning procedure. The experiments show that the use of RIFLE significantly improves deep transfer learning accuracy on a wide range of datasets, out-performing known tricks for the similar purpose, such as Dropout, DropConnect, StochasticDepth, Disturb Label and Cyclic Learning Rate, under the same settings with 0.5% -2% higher testing accuracy. Empirical cases and ablation studies further indicate RIFLE brings meaningful updates to deep CNN layers with accuracy improved.

This paper was motivated by the problem of how to make robots fuse and transfer their experience so that they can effectively use prior knowledge and quickly adapt to new environments. To address the problem, we present a learning architecture for navigation in cloud robotic systems: Lifelong Federated Reinforcement Learning (LFRLA). In the work, We propose a knowledge fusion algorithm for upgrading a shared model deployed on the cloud. Then, effective transfer learning methods in LFRLA are introduced. LFRLA is consistent with human cognitive science and fits well in cloud robotic systems. Experiments show that LFRLA greatly improves the efficiency of reinforcement learning for robot navigation. The cloud robotic system deployment also shows that LFRLA is capable of fusing prior knowledge. In addition, we release a cloud robotic navigation-learning website based on LFRLA.