相关论文: Enhancing Path Planning Performance through Image …

Self-supervised learning has made substantial strides in image processing, while visual pre-training for autonomous driving is still in its infancy. Existing methods often focus on learning geometric scene information while neglecting…

Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…

In this paper, we will show an unprecedented method to accelerate training and improve performance, which called random gradient (RG). This method can be easier to the training of any model without extra calculation cost, we use Image…

We propose a stable, parallel approach to train Wasserstein Conditional Generative Adversarial Neural Networks (W-CGANs) under the constraint of a fixed computational budget. Differently from previous distributed GANs training techniques,…

Global routing is a critical stage in electronic design automation (EDA) that enables early estimation and optimization of the routability of modern integrated circuits with respect to congestion, power dissipation, and design complexity.…

We investigate the problem of risk averse robot path planning using the deep reinforcement learning and distributionally robust optimization perspectives. Our problem formulation involves modelling the robot as a stochastic linear dynamical…

In this paper, we propose a learning algorithm that speeds up the search in task and motion planning problems. Our algorithm proposes solutions to three different challenges that arise in learning to improve planning efficiency: what to…

A novel optimization approach is proposed for application to policy gradient methods and evolution strategies for reinforcement learning (RL). The procedure uses a computationally efficient Wasserstein natural gradient (WNG) descent that…

We introduce Wasserstein Adversarial Proximal Policy Optimization (WAPPO), a novel algorithm for visual transfer in Reinforcement Learning that explicitly learns to align the distributions of extracted features between a source and target…

One of the main challenges in the parametrization of geological models is the ability to capture complex geological structures often observed in the subsurface. In recent years, generative adversarial networks (GAN) were proposed as an…

In this paper, we propose World Model Policy Gradient (WMPG), an approach to reduce the variance of policy gradient estimates using learned world models (WM's). In WMPG, a WM is trained online and used to imagine trajectories. The imagined…

Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and…

To improve the performance of classical generative adversarial network (GAN), Wasserstein generative adversarial networks (W-GAN) was developed as a Kantorovich dual formulation of the optimal transport (OT) problem using Wasserstein-1…

Optimization over the space of probability measures endowed with the Wasserstein-2 geometry is central to modern machine learning and mean-field modeling. However, traditional methods relying on full Wasserstein gradients often suffer from…

Graphs are often used to organize data because of their simple topological structure, and therefore play a key role in machine learning. And it turns out that the low-dimensional embedded representation obtained by graph representation…

We study an informative path-planning problem where the goal is to minimize the time required to learn a spatially varying entity. We use Gaussian Process (GP) regression for learning the underlying field. Our goal is to ensure that the GP…

In this paper, we study a physics-informed algorithm for Wasserstein Generative Adversarial Networks (WGANs) for uncertainty quantification in solutions of partial differential equations. By using groupsort activation functions in…

By building upon the recent theory that established the connection between implicit generative modeling (IGM) and optimal transport, in this study, we propose a novel parameter-free algorithm for learning the underlying distributions of…

Generative Adversarial Networks (GANs) are an unsupervised generative model that learns data distribution through adversarial training. However, recent experiments indicated that GANs are difficult to train due to the requirement of…

We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…