Linear regression models contaminated by Gaussian noise (inlier) and possibly unbounded sparse outliers are common in many signal processing applications. Sparse recovery inspired robust regression (SRIRR) techniques are shown to deliver high quality estimation performance in such regression models. Unfortunately, most…
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8 results for “RRT”
Orthogonal matching pursuit (OMP) and orthogonal least squares (OLS) are widely used for sparse signal reconstruction in under-determined linear regression problems. The performance of these compressed sensing (CS) algorithms depends crucially on the \textit{a priori} knowledge of either the sparsity of the signal ($k_…
Orthogonal matching pursuit (OMP) is a widely used algorithm for recovering sparse high dimensional vectors in linear regression models. The optimal performance of OMP requires \textit{a priori} knowledge of either the sparsity of regression vector or noise statistics. Both these statistics are rarely known \textit{a p…
R3L uses planning algorithms to efficiently explore sparse reward environments.
problem Balancing exploration and exploitation in sparse reward reinforcement learning.
method Formulate exploration as a search problem using RRT, leverage demonstrations from initial solutions to refine RL policy.
result R3L outperforms classic and intrinsic exploration techniques, requiring fewer samples and achieving better asymptotic performance.
Non-negative Matrix Factorization (NMF) is a popular tool for data exploration. Bayesian NMF promises to also characterize uncertainty in the factorization. Unfortunately, current inference approaches such as MCMC mix slowly and tend to get stuck on single modes. We introduce a novel approach using rapidly-exploring ra…
We propose a meta path planning algorithm named \emph{Neural Exploration-Exploitation Trees~(NEXT)} for learning from prior experience for solving new path planning problems in high dimensional continuous state and action spaces. Compared to more classical sampling-based methods like RRT, our approach achieves much bet…
Framework learns useful subgoals from demonstrations and instructions.
problem Efficient long-term planning for novel goals.
method Rational subgoals (RSGs) learned from demonstrations and task descriptions.
result Improves performance-time efficiency of planning algorithms.
The paper develops a method to learn navigation costs from expert demonstrations in partially observable environments.
problem Learning navigation costs from expert demonstrations in partially observable environments.
method Develops a cost function representation composed of a probabilistic occupancy encoder and a cost encoder, optimized by differentiating the error between demonstrated controls and a control policy computed from the cost encoder.
result The method outperforms baseline IRL algorithms in robot navigation tasks, improving both training and test-time efficiency.