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A new generative adversarial network is developed for joint distribution matching. Distinct from most existing approaches, that only learn conditional distributions, the proposed model aims to learn a joint distribution of multiple random…

We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in uncertain environments. First, we use stochastic model…

Physical AI is being successfully applied to data which does not follow the traditional paradigm of independent and identically distributed (i.i.d.) samples. In fact, physical AI is often trained on data which is not random at all, and is…

Despite the recency of their conception, Generative Adversarial Networks (GANs) constitute an extensively researched machine learning sub-field for the creation of synthetic data through deep generative modeling. GANs have consequently been…

Anomaly detection is a fundamental problem in computer vision area with many real-world applications. Given a wide range of images belonging to the normal class, emerging from some distribution, the objective of this task is to construct…

This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…

Conditional generative adversarial networks (cGANs) have demonstrated remarkable success due to their class-wise controllability and superior quality for complex generation tasks. Typical cGANs solve the joint distribution matching problem…

Conditional Generative Adversarial Networks~(CGAN) are a recent and popular method for generating samples from a probability distribution conditioned on latent information. The latent information often comes in the form of a discrete label…

Allowing effective inference of latent vectors while training GANs can greatly increase their applicability in various downstream tasks. Recent approaches, such as ALI and BiGAN frameworks, develop methods of inference of latent variables…

We study how a Reinforcement Learning (RL) system can remain sample-efficient when learning from an imperfect model of the environment. This is particularly challenging when the learning system is resource-constrained and in continual…

Generative adversarial network (GAN) has gotten wide re-search interest in the field of deep learning. Variations of GAN have achieved competitive results on specific tasks. However, the stability of training and diversity of generated…

In recent times, many of the breakthroughs in various vision-related tasks have revolved around improving learning of deep models; these methods have ranged from network architectural improvements such as Residual Networks, to various forms…

Adversarial Regression is a proposition to perform high dimensional non-linear regression with uncertainty estimation. We used Conditional Generative Adversarial Network to obtain an estimate of the full predictive distribution for a new…

While cloud/sky image segmentation has extensive real-world applications, a large amount of labelled data is needed to train a highly accurate models to perform the task. Scarcity of such volumes of cloud/sky images with corresponding…

The fact that image datasets are often imbalanced poses an intense challenge for deep learning techniques. In this paper, we propose a method to restore the balance in imbalanced images, by coalescing two concurrent methods, generative…

Sampling-based algorithms are widely used for motion planning in high-dimensional configuration spaces. However, due to low sampling efficiency, their performance often diminishes in complex configuration spaces with narrow corridors.…

Predicting traffic agents' trajectories is an important task for auto-piloting. Most previous work on trajectory prediction only considers a single class of road agents. We use a sequence-to-sequence model to predict future paths from…

Representation learning based on multi-task pretraining has become a powerful approach in many domains. In particular, task-aware representation learning aims to learn an optimal representation for a specific target task by sampling data…

This paper considers optimization problems over networks where agents have individual objectives to meet, or individual parameter vectors to estimate, subject to subspace constraints that require the objectives across the network to lie in…

Identifying anomalies refers to detecting samples that do not resemble the training data distribution. Many generative models have been used to find anomalies, and among them, generative adversarial network (GAN)-based approaches are…