A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
The paper finds local minimizers for obstacle avoidance on curved spaces.
The paper simplifies conditions for optimal paths on manifolds avoiding obstacles.
New approach for obstacle avoidance in robotics using learned representations.
Study motion planning for points avoiding obstacles in a plane.
GP-ND avoids obstacles in trajectory planning using Gaussian Process regression.
CARML uses meta-learning to avoid obstacles in 2D vehicle navigation.
Flow adjusts curvature to avoid a fixed region, proving bounds and regularity.
By introducing a shape manifold as a solution set to solve inverse obstacle scattering problems we allow the reconstruction of general, not necessarily star-shaped curves. The bending energy is used as a stabilizing term in Tikhonov regularization to gain independence of the parametrization. Moreover, we discuss how se…
Coordinated defensive escorts can aid a navigating payload by positioning themselves in order to maintain the safety of the payload from obstacles. In this paper, we present a novel, end-to-end solution for coordinating an escort team for protecting high-value payloads. Our solution employs deep reinforcement learning …
Develops a learning model predictive controller for competitive racing.
This paper concerns the numerical solution of the finite-horizon Optimal Investment problem with transaction costs under Potential Utility. The problem is initially posed in terms of an evolutive HJB equation with gradient constraints. In Finite-Horizon Optimal Investment with Transaction Costs: A Parabolic Double Obst…
Method recovers obstacles from travel times on curved surfaces.
Study reveals RL game's embedding space is stratified, not a manifold.
Deep RL mimics human driving for collision avoidance in self-driving cars.
Study finds a limiting distribution for free path lengths on flat surfaces with circular obstacles.
A new method compresses large datasets for gradient descent algorithms efficiently.
Study on elastic curves pinned at the boundary, focusing on minimizers and their interaction with obstacles.
Study of mean curvature flow with obstacles using singular perturbation.
The paper deals with some problems related to recovering information about an obstacle in an Euclidean space from certain measurements of lengths of generalized geodesics in the exterior of the obstacle. The main result is that if two obstacles satisfy some generic regularity conditions and have (almost) the same trave…
We present NAVREN-RL, an approach to NAVigate an unmanned aerial vehicle in an indoor Real ENvironment via end-to-end reinforcement learning RL. A suitable reward function is designed keeping in mind the cost and weight constraints for micro drone with minimum number of sensing modalities. Collection of small number of…
Loss functions with a large number of saddle points are one of the major obstacles for training modern machine learning models efficiently. First-order methods such as gradient descent are usually the methods of choice for training machine learning models. However, these methods converge to saddle points for certain ch…
In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different environments using high-dimensional inputs (a 2D map), while following feasible pa…
Same travelling times imply identical obstacles in Riemannian manifolds.
Study anisotropic obstacle problem for minimal surfaces using Cahn-Hoffman transform.
Study proves uniqueness for ray transform on surfaces with obstacles.
We show that any group that is hyperbolic relative to virtually nilpotent subgroups, and does not admit peripheral splittings, contains a quasi-isometrically embedded copy of the hyperbolic plane. In natural situations, the specific embeddings we find remain quasi-isometric embeddings when composed with the inclusion m…
We consider the broken ray transform on Riemann surfaces in the presence of an obstacle, following earlier work of Mukhometov. If the surface has nonpositive curvature and the obstacle is strictly convex, we show that a function is determined by its integrals over broken geodesic rays that reflect on the boundary of th…
Anisotropic obstacle problems and Stefan problem studied with evolving surfaces.
Geometric optics describes wave behavior near convex obstacles.
We consider an obstacle problem for elastic curves with fixed ends. We attempt to extend the graph approach provided in [8]. More precisely, we investigate nonexistence of graph solutions for special obstacles and extend the class of admissible curves in a way that an existence result can be obtained by a penalization …
Most microscopic pedestrian navigation models use the concept of "forces" applied to the pedestrian agents to replicate the navigation environment. While the approach could provide believable results in regular situations, it does not always resemble natural pedestrian navigation behaviour in many typical settings. In …
We show short time existence and uniqueness of $\C^{1,1}$ solutions to the mean curvature flow with obstacles, when the obstacles are of class $\C^{1,1}$. If the initial interface is a periodic graph we show long time existence of the evolution and convergence to a minimal constrained hypersurface.
Improves DRL for long-term causal inference with semiparametric methods.
In this paper, we analyze a real-valued reflected backward stochastic differential equation (RBSDE) with an unbounded obstacle and an unbounded terminal condition when its generator has quadratic growth in the -variable. In particular, we obtain existence, comparison, and stability results, and consider the opti…
This paper presents preliminary work on learning the search heuristic for the optimal motion planning for automated driving in urban traffic. Previous work considered search-based optimal motion planning framework (SBOMP) that utilized numerical or model-based heuristics that did not consider dynamic obstacles. Optimal…
Regularizes 3D inverse scattering with tangent-point energy for better solutions.
Develops RL for dynamic risk assessment in stochastic optimization.
Billiard trajectories in curved spaces have predictable travel times.
In this paper we study Backward Stochastic Differential Equations with two reflecting right continuous with left limits obstacles (or barriers) when the noise is given by Brownian motion and a Poisson random measure mutually independent. The jumps of the obstacle processes could be either predictable or inaccessible. W…
Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the height the sensor is measuring. In this work, instead of estimating the distance…
Billiard trajectories (broken generalised geodesics) are considered in the exterior of an obstacle with smooth boundary on an arbitrary Riemannian manifold. We prove a generalisation of the well-known Santalo's formula. As a consequence, it is established that if the set of trapped points has positive measure, then…
We consider the problem of evolving hypersurfaces by mean curvature flow in the presence of obstacles, that is domains which the flow is not allowed to enter. In this paper, we treat the case of complete graphs and explain how the approach of M. Saez and the second author yields a global weak solution to the original p…
A framework for navigating environments with spatially correlated obstacles and uncertain blockage status.
In this paper, we introduce an actor-critic algorithm called Deep Value Model Predictive Control (DMPC), which combines model-based trajectory optimization with value function estimation. The DMPC actor is a Model Predictive Control (MPC) optimizer with an objective function defined in terms of a value function estimat…
Convolutional neural networks are commonly used to control the steering angle for autonomous cars. Most of the time, multiple long range cameras are used to generate lateral failure cases. In this paper we present a novel model to generate this data and label augmentation using only one short range fisheye camera. We p…
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the controlled dynamics is given by nonholonomic mechanical system. In our paper, the co…
Cyber-physical systems, such as mobile robots, must respond adaptively to dynamic operating conditions. Effective operation of these systems requires that sensing and actuation tasks are performed in a timely manner. Additionally, execution of mission specific tasks such as imaging a room must be balanced against the n…
The Heston stochastic volatility process is a degenerate diffusion process where the degeneracy in the diffusion coefficient is proportional to the square root of the distance to the boundary of the half-plane. The generator of this process with killing, called the elliptic Heston operator, is a second-order, degenerat…