相关论文: Enhancing Path Planning Performance through Image …

This paper presents a novel method for accelerating path planning tasks in unknown scenes with obstacles by utilizing Wasserstein Generative Adversarial Networks (WGANs) with Gradient Penalty (GP) to approximate the distribution of the free…

Wasserstein gradient flows (WGFs) describe the evolution of probability distributions in Wasserstein space as steepest descent dynamics for a free energy functional. Computing the full path from an arbitrary initial distribution to…

Sampling-based path planning is a popular methodology for robot path planning. With a uniform sampling strategy to explore the state space, a feasible path can be found without the complex geometric modeling of the configuration space.…

Wasserstein GANs with Gradient Penalty (WGAN-GP) are a very popular method for training generative models to produce high quality synthetic data. While WGAN-GP were initially developed to calculate the Wasserstein 1 distance between…

Computing optimal transport maps between high-dimensional and continuous distributions is a challenging problem in optimal transport (OT). Generative adversarial networks (GANs) are powerful generative models which have been successfully…

Path planning plays an important role in autonomous robot systems. Effective understanding of the surrounding environment and efficient generation of optimal collision-free path are both critical parts for solving path planning problem.…

Generating realistic graph-structured data is challenging due to discrete structures, variable sizes, and class-specific connectivity patterns that resist conventional generative modelling. While recent graph generation methods employ…

Generative Adversarial Networks (GANs) are one of the most practical methods for learning data distributions. A popular GAN formulation is based on the use of Wasserstein distance as a metric between probability distributions.…

Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…

High-resolution (HR) precipitation prediction is essential for reducing damage from stationary and localized heavy rainfall; however, HR precipitation forecasts using process-driven numerical weather prediction models remains challenging.…

Generative Adversarial Networks (GANs) have been impactful on many problems and applications but suffer from unstable training. The Wasserstein GAN (WGAN) leverages the Wasserstein distance to avoid the caveats in the minmax two-player…

This paper presents a methodology and workflow that overcome the limitations of the conventional Generative Adversarial Networks (GANs) for geological facies modeling. It attempts to improve the training stability and guarantee the…

Generative modeling over natural images is one of the most fundamental machine learning problems. However, few modern generative models, including Wasserstein Generative Adversarial Nets (WGANs), are studied on manifold-valued images that…

Image inpainting is a restoration method that reconstructs missing image parts. However, a carefully selected mask of known pixels that yield a high quality inpainting can also act as a sparse image representation. This challenging spatial…

We propose a new method for collision-free planning using Conditional Generative Adversarial Networks (cGANs) to transform between the robot's joint space and a latent space that captures only collision-free areas of the joint space,…

This paper describes and evaluates the use of Generative Adversarial Networks (GANs) for path planning in support of smart mobility applications such as indoor and outdoor navigation applications, individualized wayfinding for people with…

Estimating spatially distributed properties such as hydraulic conductivity (K) from available sparse measurements is a great challenge in subsurface characterization. However, the use of inverse modeling is limited for ill-posed,…

Traditional generative adversarial networks (GAN) and many of its variants are trained by minimizing the KL or JS-divergence loss that measures how close the generated data distribution is from the true data distribution. A recent advance…

With the rapidly growing model complexity and data volume, training deep generative models (DGMs) for better performance has becoming an increasingly more important challenge. Previous research on this problem has mainly focused on…

We propose a new algorithm that uses an auxiliary neural network to express the potential of the optimal transport map between two data distributions. In the sequel, we use the aforementioned map to train generative networks. Unlike WGANs,…