Investigation of Factorized Optical Flows as Mid-Level Representations
Abstract
In this paper, we introduce a new concept of incorporating factorized flow maps as mid-level representations, for bridging the perception and the control modules in modular learning based robotic frameworks. To investigate the advantages of factorized flow maps and examine their interplay with the other types of mid-level representations, we further develop a configurable framework, along with four different environments that contain both static and dynamic objects, for analyzing the impacts of factorized optical flow maps on the performance of deep reinforcement learning agents. Based on this framework, we report our experimental results on various scenarios, and offer a set of analyses to justify our hypothesis. Finally, we validate flow factorization in real world scenarios.
Cite
@article{arxiv.2203.04927,
title = {Investigation of Factorized Optical Flows as Mid-Level Representations},
author = {Hsuan-Kung Yang and Tsu-Ching Hsiao and Ting-Hsuan Liao and Hsu-Shen Liu and Li-Yuan Tsao and Tzu-Wen Wang and Shan-Ya Yang and Yu-Wen Chen and Huang-Ru Liao and Chun-Yi Lee},
journal= {arXiv preprint arXiv:2203.04927},
year = {2024}
}
Comments
Ting-Hsuan Liao, Hsu-Shen Liu, Li-Yuan Tsao, Tzu-Wen Wang, and Shan-Ya Yang contributed equally to this work, names listed in alphabetical order; This work has been submitted to the IEEE for possible publication