相关论文: GMM-Based Time-Varying Coverage Control

Task Parametrized Gaussian Mixture Models (TP-GMM) are a sample-efficient method for learning object-centric robot manipulation tasks. However, there are several open challenges to applying TP-GMMs in the wild. In this work, we tackle three…

In this work, we propose a Gaussian mixture model (GMM)-based pilot design scheme for downlink (DL) channel estimation in single- and multi-user multiple-input multiple-output (MIMO) frequency division duplex (FDD) systems. In an initial…

Coverage control is essential for the optimal deployment of agents to monitor or cover areas with sensory demands. While traditional coverage involves single-task robots, increasing autonomy now enables multitask operations. This paper…

Many records in environmental sciences exhibit asymmetric trajectories and there is a need for simple and tractable models which can reproduce such features. In this paper we explore an approach based on applying both a time change and a…

Graphical Transformation Models (GTMs) are introduced as a novel approach to effectively model multivariate data with intricate marginals and complex dependency structures semiparametrically, while maintaining interpretability through the…

Coverage motion planning is essential to a wide range of robotic tasks. Unlike conventional motion planning problems, which reason over temporal sequences of states, coverage motion planning requires reasoning over the spatial distribution…

We introduce a variational algorithm to estimate the likelihood of a rare event within a nonequilibrium molecular dynamics simulation through the evaluation of an optimal control force. Optimization of a control force within a chosen basis…

We present a new framework to detect various types of variable objects within massive astronomical time-series data. Assuming that the dominant population of objects is non-variable, we find outliers from this population by using a…

Contextual optimization enhances decision quality by leveraging side information to improve predictions of uncertain parameters. However, existing approaches face significant challenges when dealing with multimodal or mixtures of…

Forecasting on sparse multivariate time series (MTS) aims to model the predictors of future values of time series given their incomplete past, which is important for many emerging applications. However, most existing methods process MTS's…

This letter presents a continuous probabilistic modeling methodology for spatial point cloud data using finite Gaussian Mixture Models (GMMs) where the number of components are adapted based on the scene complexity. Few hierarchical and…

The Gaussian Graphical Model (GGM) is a popular tool for incorporating sparsity into joint multivariate distributions. The G-Wishart distribution, a conjugate prior for precision matrices satisfying general GGM constraints, has now been in…

In this paper, we study the finite-horizon optimal density steering problem for discrete-time stochastic linear dynamical systems. Specifically, we focus on steering probability densities represented as Gaussian mixture models which are…

In this work, we propose variations of a Gaussian mixture model (GMM) based channel estimator that was recently proven to be asymptotically optimal in the minimum mean square error (MMSE) sense. We account for the need of low computational…

Unsupervised learning has been widely used in many real-world applications. One of the simplest and most important unsupervised learning models is the Gaussian mixture model (GMM). In this work, we study the multi-task learning problem on…

Microgrids are resources that can be used to restore critical loads after a natural disaster, enhancing resilience of a distribution network. To deal with the stochastic nature of intermittent energy resources, such as wind turbines (WTs)…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…

Recently, a versatile limited feedback scheme based on a Gaussian mixture model (GMM) was proposed for frequency division duplex (FDD) systems. This scheme provides high flexibility regarding various system parameters and is applicable to…

We consider the problem of finite-horizon optimal control of a discrete linear time-varying system subject to a stochastic disturbance and fully observable state. The initial state of the system is drawn from a known Gaussian distribution,…

Unmanned Aerial Vehicles (UAVs) dynamic encirclement is an emerging field with great potential. Researchers often get inspiration from biological systems, either from macro-world like fish schools or bird flocks etc, or from micro-world…