相关论文: Enhancing Path Planning Performance through Image …

Missing node attributes is a common problem in real-world graphs. Graph neural networks have been demonstrated power in graph representation learning while their performance is affected by the completeness of graph information. Most of them…

Image inpainting techniques have shown promising improvement with the assistance of generative adversarial networks (GANs) recently. However, most of them often suffered from completed results with unreasonable structure or blurriness. To…

We propose a new equilibrium enforcing method paired with a loss derived from the Wasserstein distance for training auto-encoder based Generative Adversarial Networks. This method balances the generator and discriminator during training.…

Ray tracing has become a standard for accurate radio propagation modeling, but suffers from exponential computational complexity, as the number of candidate paths scales with the number of objects raised to the interaction order. This…

Highly reliable Monte-Carlo event generators and detector simulation programs are important for the precision measurement in the high energy physics. Huge amounts of computing resources are required to produce a sufficient number of…

Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…

Multi-agent path planning is a critical challenge in robotics, requiring agents to navigate complex environments while avoiding collisions and optimizing travel efficiency. This work addresses the limitations of existing approaches by…

Efficient scheduling of directed acyclic graphs (DAGs) in heterogeneous environments is challenging due to resource capacities and dependencies. In practice, the need for adaptability across environments with varying resource pools and task…

The generative adversarial network (GAN) aims to approximate an unknown distribution via a parameterized neural network (NN). While GANs have been widely applied in reinforcement and semi-supervised learning as well as computer vision…

We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed WayFAST (Waypoint Free Autonomous Systems for Traversability), uses RGB…

Path planning in unknown environments is a crucial yet inherently challenging capability for mobile robots, which primarily encompasses two coupled tasks: autonomous exploration and point-goal navigation. In both cases, the robot must…

Learning generative models is challenging for a network edge node with limited data and computing power. Since tasks in similar environments share model similarity, it is plausible to leverage pre-trained generative models from the cloud or…

We revisit the problem of motion planning in the Gaussian belief space. Motivated by the fact that most existing sampling-based planners suffer from high computational costs due to the high-dimensional nature of the problem, we propose an…

In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…

Learning with sparse rewards remains a significant challenge in reinforcement learning (RL), especially when the aim is to train a policy capable of achieving multiple different goals. To date, the most successful approaches for dealing…

Graphs are playing a crucial role in different fields since they are powerful tools to unveil intrinsic relationships among signals. In many scenarios, an accurate graph structure representing signals is not available at all and that…

One of the most critical pieces of the self-driving puzzle is the task of predicting future movement of surrounding traffic actors, which allows the autonomous vehicle to safely and effectively plan its future route in a complex world.…

Diffusion models and flow-based methods have shown impressive generative capability, especially for images, but their sampling is expensive because it requires many iterative updates. We introduce W-Flow, a framework for training a…

We study informative path planning (IPP) with travel budgets in cluttered environments, where an agent collects measurements of a latent field modeled as a Gaussian process (GP) to reduce uncertainty at target locations. Graph-based solvers…

Particle-based Bayesian inference methods by sampling from a partition-free target (posterior) distribution, e.g., Stein variational gradient descent (SVGD), have attracted significant attention. We propose a path-guided particle-based…