相关论文: Enhancing Path Planning Performance through Image …

The use of optimal transport cost for learning generative models has become popular with Wasserstein Generative Adversarial Networks (WGAN). Training of WGAN relies on a theoretical background: the calculation of the gradient of the optimal…

Generative Adversarial Networks (GANs) have been used to model the underlying probability distribution of sample based datasets. GANs are notoriuos for training difficulties and their dependence on arbitrary hyperparameters. One recent…

In robotics, it is essential to be able to plan efficiently in high-dimensional continuous state-action spaces for long horizons. For such complex planning problems, unguided uniform sampling of actions until a path to a goal is found is…

In this study, a novel topology optimization approach based on conditional Wasserstein generative adversarial networks (CWGAN) is developed to replicate the conventional topology optimization algorithms in an extremely computationally…

Generative adversarial networks (GANs) have received a tremendous amount of attention in the past few years, and have inspired applications addressing a wide range of problems. Despite its great potential, GANs are difficult to train.…

To achieve autonomous driving without high-definition maps, we present a model capable of generating multiple plausible paths from egocentric images for autonomous vehicles. Our generative model comprises two neural networks: the feature…

Attributing the pixels of an input image to a certain category is an important and well-studied problem in computer vision, with applications ranging from weakly supervised localisation to understanding hidden effects in the data. In recent…

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…

Sampling-based path planning algorithms play an important role in autonomous robotics. However, a common problem among these algorithms is that the initial path generated is not optimal, and the convergence is too slow for real-world…

Generative Adversarial Networks (GANs) have become a very popular tool for implicitly learning high-dimensional probability distributions. Several improvements have been made to the original GAN formulation to address some of its…

Generative adversarial networks (GANs) are a widely used framework for learning generative models. Wasserstein GANs (WGANs), one of the most successful variants of GANs, require solving a minmax optimization problem to global optimality,…

The extension of image generation to video generation turns out to be a very difficult task, since the temporal dimension of videos introduces an extra challenge during the generation process. Besides, due to the limitation of memory and…

Recent advancements in real image editing have been attributed to the exploration of Generative Adversarial Networks (GANs) latent space. However, the main challenge of this procedure is GAN inversion, which aims to map the image to the…

A new Wasserstein multi-element polynomial chaos expansion (WPCE) is proposed, which is inspired by recent advances in computational optimal transport for estimating Wasserstein distances. The developed method combines unsupervised learning…

Generative Adversarial Networks (GANs) have been successful in producing outstanding results in areas as diverse as image, video, and text generation. Building on these successes, a large number of empirical studies have validated the…

In many real-world applications of Machine Learning it is of paramount importance not only to provide accurate predictions, but also to ensure certain levels of robustness. Adversarial Training is a training procedure aiming at providing…

Generative adversarial networks (GANs) have been extremely successful in generating samples, from seemingly high dimensional probability measures. However, these methods struggle to capture the temporal dependence of joint probability…

We introduce Primal-Dual Wasserstein GAN, a new learning algorithm for building latent variable models of the data distribution based on the primal and the dual formulations of the optimal transport (OT) problem. We utilize the primal…

Generative models based on latent variables, such as generative adversarial networks (GANs) and variational auto-encoders (VAEs), have gained lots of interests due to their impressive performance in many fields. However, many data such as…

In this paper, we study the problem of learning compact (low-dimensional) representations for sequential data that captures its implicit spatio-temporal cues. To maximize extraction of such informative cues from the data, we set the problem…