Related papers: Geometric Integration for Neural Control Variates
Due to their weak inductive bias, Multi-Layer Perceptrons (MLPs) have subpar performance at low-compute levels compared to standard architectures such as convolution-based networks (CNN). Recent work, however, has shown that the performance…
Multi-Layer Perceptrons (MLP) are powerful tools for representing complex, non-linear relationships, making them essential for diverse machine learning and AI applications. Efficient hardware implementation of MLPs can be achieved through…
Monte Carlo methods represent the "de facto" standard for approximating complicated integrals involving multidimensional target distributions. In order to generate random realizations from the target distribution, Monte Carlo techniques use…
With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…
The traditional Multilayer Perceptron (MLP) using McCulloch-Pitts neuron model is inherently limited to a set of neuronal activities, i.e., linear weighted sum followed by nonlinear thresholding step. Previously, Generalized Operational…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Coordinate-based Multilayer Perceptron (MLP) networks, despite being capable of learning neural implicit representations, are not performant for internal image synthesis applications. Convolutional Neural Networks (CNNs) are typically used…
Recently, vision architectures based exclusively on multi-layer perceptrons (MLPs) have gained much attention in the computer vision community. MLP-like models achieve competitive performance on a single 2D image classification with less…
In this study, we explore the integration of Neural Networks, a powerful class of functions known for their exceptional approximation capabilities. Our primary emphasis is on the integration of multi-layer Neural Networks, a challenging…
This article presents a novel approach, named MCMP (Monte Carlo Motion Planning), to the problem of motion planning under uncertainty, i.e., to the problem of computing a low-cost path that fulfills probabilistic collision avoidance…
A novel linear integration rule called $\textit{control neighbors}$ is proposed in which nearest neighbor estimates act as control variates to speed up the convergence rate of the Monte Carlo procedure on metric spaces. The main result is…
An ongoing challenge in neural information processing is: how do neurons adjust their connectivity to improve task performance over time (i.e., actualize learning)? It is widely believed that there is a consistent, synaptic-level learning…
Transformer layers, which use an alternating pattern of multi-head attention and multi-layer perceptron (MLP) layers, provide an effective tool for a variety of machine learning problems. As the transformer layers use residual connections…
This work introduces a novel multilevel Monte Carlo (MLMC) metamodeling approach for variance function estimation. Although devising an efficient experimental design for simulation metamodeling can be elusive, the MLMC-based approach…
Deep learning systems extensively use convolution operations to process input data. Though convolution is clearly defined for structured data such as 2D images or 3D volumes, this is not true for other data types such as sparse point…
This paper surveys in detail the relations between numerical integration and the Hamiltonian (or hybrid) Monte Carlo method (HMC). Since the computational cost of HMC mainly lies in the numerical integrations, these should be performed as…
We consider a class of finite time horizon nonlinear stochastic optimal control problem, where the control acts additively on the dynamics and the control cost is quadratic. This framework is flexible and has found applications in many…
We propose a neural approach for estimating spatially varying light selection distributions to improve importance sampling in Monte Carlo rendering, particularly for complex scenes with many light sources. Our method uses a neural network…
We propose a novel multi-dimensional integration algorithm using a machine learning (ML) technique. After training a ML regression model to mimic a target integrand, the regression model is used to evaluate an approximation of the integral.…
The control variates (CV) method is widely used in policy gradient estimation to reduce the variance of the gradient estimators in practice. A control variate is applied by subtracting a baseline function from the state-action value…