Related papers: Improving Path Planning Performance through Multim…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
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…
In this paper, we propose a new and unified approach for nonparametric regression and conditional distribution learning. Our approach simultaneously estimates a regression function and a conditional generator using a generative learning…
We introduce the Probabilistic Generative Adversarial Network (PGAN), a new GAN variant based on a new kind of objective function. The central idea is to integrate a probabilistic model (a Gaussian Mixture Model, in our case) into the GAN…
Efficient navigation through uneven terrain remains a challenging endeavor for autonomous robots. We propose a new geometric-based uneven terrain mapless navigation framework combining a Sparse Gaussian Process (SGP) local map with a…
Estimation of distribution algorithms (EDA) are stochastic optimization algorithms. EDA establishes a probability model to describe the distribution of solution from the perspective of population macroscopically by statistical learning…
Autonomous robots are increasingly deployed to estimate spatiotemporal fields (e.g., wind, temperature, gas concentration) that vary across space and time. We consider environments divided into non-overlapping regions with distinct spatial…
Projection-based model reduction is among the most widely adopted methods for constructing parametric Reduced-Order Models (ROM). Utilizing the snapshot data from solving full-order governing equations, the Proper Orthogonal Decomposition…
When trained on multimodal image datasets, normal Generative Adversarial Networks (GANs) are usually outperformed by class-conditional GANs and ensemble GANs, but conditional GANs is restricted to labeled datasets and ensemble GANs lack…
In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network…
We present a physics-informed Wasserstein GAN with gradient penalty (WGAN-GP) for solving the inverse Chafee--Infante problem on two-dimensional domains with Dirichlet boundary conditions. The objective is to reconstruct an unknown initial…
Wasserstein Generative Adversarial Networks (WGANs) provide a versatile class of models, which have attracted great attention in various applications. However, this framework has two main drawbacks: (i) Wasserstein-1 (or Earth-Mover)…
This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…
In this paper, we aim to improve the state-of-the-art video generative adversarial networks (GANs) with a view towards multi-functional applications. Our improved video GAN model does not separate foreground from background nor dynamic from…
The mathematical forces at work behind Generative Adversarial Networks raise challenging theoretical issues. Motivated by the important question of characterizing the geometrical properties of the generated distributions, we provide a…
We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…
To improve the performance of classical generative adversarial network (GAN), Wasserstein generative adversarial networks (W-GAN) was developed as a Kantorovich dual formulation of the optimal transport (OT) problem using Wasserstein-1…
One of the main challenges in the parametrization of geological models is the ability to capture complex geological structures often observed in the subsurface. In recent years, generative adversarial networks (GAN) were proposed as an…