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Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…
Generative Adversarial Networks (GAN) have received wide attention in the machine learning field for their potential to learn high-dimensional, complex real data distribution. Specifically, they do not rely on any assumptions about the…
Generative adversarial networks (GANs), a class of distribution-learning methods based on a two-player game between a generator and a discriminator, can generally be formulated as a minmax problem based on the variational representation of…
Generative Adversarial Networks (GAN) (Goodfellow et al., 2014) are an effective method for training generative models of complex data such as natural images. However, they are notoriously hard to train and can suffer from the problem of…
This paper proposes a novel approach for predicting the motion of pedestrians interacting with others. It uses a Generative Adversarial Network (GAN) to sample plausible predictions for any agent in the scene. As GANs are very susceptible…
Generative networks are fundamentally different in their aim and methods compared to CNNs for classification, segmentation, or object detection. They have initially not been meant to be an image analysis tool, but to produce naturally…
Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem instances. Most variants do not sample uniformly at random, and…
Despite success on a wide range of problems related to vision, generative adversarial networks (GANs) often suffer from inferior performance due to unstable training, especially for text generation. To solve this issue, we propose a new…
We propose a framework of generative adversarial networks with multiple discriminators, which collaborate to represent a real dataset more effectively. Our approach facilitates learning a generator consistent with the underlying data…
Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applications such as bin-picking and assembly. The commonly used…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
Generative adversarial networks (GANs) are pow- erful generative models based on providing feed- back to a generative network via a discriminator network. However, the discriminator usually as- sesses individual samples. This prevents the…
The tabular form constitutes the standard way of representing data in relational database systems and spreadsheets. But, similarly to other forms, tabular data suffers from class imbalance, a problem that causes serious performance…
The true distribution parameterizations of commonly used image datasets are inaccessible. Rather than designing metrics for feature spaces with unknown characteristics, we propose to measure GAN performance by evaluating on explicitly…
The collected data from industrial machines are often imbalanced, which poses a negative effect on learning algorithms. However, this problem becomes more challenging for a mixed type of data or while there is overlapping between classes.…
Generative adversarial networks (GANs) are powerful generative models, but usually suffer from instability and generalization problem which may lead to poor generations. Most existing works focus on stabilizing the training of the…
Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…
We consider the problem of training generative models with a Generative Adversarial Network (GAN). Although GANs can accurately model complex distributions, they are known to be difficult to train due to instabilities caused by a difficult…
Adversarial attacks on image classification systems have always been an important problem in the field of machine learning, and generative adversarial networks (GANs), as popular models in the field of image generation, have been widely…