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.
Neural A* uses machine learning to improve path planning efficiency.
One-shot path planning for multiple agents using neural networks.
Deep network solves maze path planning without training.
CoMPNetX uses neural networks to efficiently solve constrained motion planning problems.
This paper describes and evaluates the use of Generative Adversarial Networks (GANs) for path planning in support of smart mobility applications such as indoor and outdoor navigation applications, individualized wayfinding for people with disabilities (e.g., vision impairments, physical disabilities, etc.), path planni…
Investment strategies in occupational pension plans are optimized for non-tradable income risk.
Unified approach to path planning using probabilistic inference on factor graphs.
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 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…
A new network learns to prioritize messages for efficient multi-robot path planning.
We present a representation learning algorithm that learns a low-dimensional latent dynamical system from high-dimensional \textit{sequential} raw data, e.g., video. The framework builds upon recent advances in amortized inference methods that use both an inference network and a refinement procedure to output samples f…
In this paper, we solve the arms exponential exploding issue in multivariate Multi-Armed Bandit (Multivariate-MAB) problem when the arm dimension hierarchy is considered. We propose a framework called path planning (TS-PP) which utilizes decision graph/trees to model arm reward success rate with m-way dimension interac…
Plan2Vec learns image representations without labels, improving control tasks.
Paper tackles efficient navigation in constrained environments using supervised and reinforcement learning.
Value Iteration Networks (VINs) are effective differentiable path planning modules that can be used by agents to perform navigation while still maintaining end-to-end differentiability of the entire architecture. Despite their effectiveness, they suffer from several disadvantages including training instability, random …
This paper uses probability tensors for efficient path planning in complex scenarios.
Deep RL drone trained to compete against classical path planning in drone racing.
We introduce the value iteration network (VIN): a fully differentiable neural network with a `planning module' embedded within. VINs can learn to plan, and are suitable for predicting outcomes that involve planning-based reasoning, such as policies for reinforcement learning. Key to our approach is a novel differentiab…
The paper optimizes UAV path and power for QoS in cellular networks.
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well as low-level tasks, like motion control, which are critical components for missi…
Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases exponentially with the dimensionality of the motion planning problem. To address this issue…
Paper tackles non-uniform coverage planning for robots.
Novel path planning improves UAV detection of extreme anomalies.
New method for predicting paths of unpredictable objects with high confidence.
We designed a grid world task to study human planning and re-planning behavior in an unknown stochastic environment. In our grid world, participants were asked to travel from a random starting point to a random goal position while maximizing their reward. Because they were not familiar with the environment, they needed…
New algorithms for planning with adversarial changes in costs.
Agent learns to navigate uncertain 3D maps using a hybrid planner.
This research introduces an autonomous robot navigation method using reinforcement learning.
Survey on manifold complexities and motion planning in robotics.
2D path planning in static environment is a well-known problem and one of the common ways to solve it is to 1) represent the environment as a grid and 2) perform a heuristic search for a path on it. At the same time 2D grid resembles much a digital image, thus an appealing idea comes to being -- to treat the problem as…
Learning and inference movement is a very challenging problem due to its high dimensionality and dependency to varied environments or tasks. In this paper, we propose an effective probabilistic method for learning and inference of basic movements. The motion planning problem is formulated as learning on a directed grap…
New geometric approach controls motion of a spinning sphere on a plane.
Simultaneously estimates travel times and route choice model parameters.
C-Learning estimates reachability over time to solve multi-goal tasks.
We present HiDe, a novel hierarchical reinforcement learning architecture that successfully solves long horizon control tasks and generalizes to unseen test scenarios. Functional decomposition between planning and low-level control is achieved by explicitly separating the state-action spaces across the hierarchy, which…
DiffSlack learns neural networks with nonlinear constraints via learnable slack variables.
Generative model for high-dimensional categorical data using Gaussian-Dirichlet fields.
Owing to the expeditious growth in the information and communication technologies, smart cities have raised the expectations in terms of efficient functioning and management. One key aspect of residents' daily comfort is assured through affording reliable traffic management and route planning. Comprehensively, the majo…
Model place cells as spatial embeddings for efficient path planning and cognitive map construction.
We introduce a variant of Farber's topological complexity, defined for smooth compact orientable Riemannian manifolds, which takes into account only motion planners with the lowest possible "average length" of the output paths. We prove that it never differs from topological complexity by more than , thus showing th…
We study an elementary problem of topological robotics: rotation of a line, which is fixed by a revolving joint at a base point: one wants to bring the line from its initial position to a final position by a continuous motion in the space. The final goal is to construct an algorithm which will perform this task once th…
Paper reformulates UOT as non-negative penalized linear regression for efficient algorithms.
This paper proposes grid cells encode position via a conformal isometric embedding of 2D physical space.
Research uses CPS to estimate uncertainty in ML radio metric models.
We develop an adversarial-reinforcement learning scheme for microswimmers in statistically homogeneous and isotropic turbulent fluid flows, in both two (2D) and three dimensions (3D). We show that this scheme allows microswimmers to find non-trivial paths, which enable them to reach a target on average in less time tha…
SGM combines deep learning and planning for robust long-horizon tasks.
We investigate the multi-step prediction of the drivable space, represented by Occupancy Grid Maps (OGMs), for autonomous vehicles. Our motivation is that accurate multi-step prediction of the drivable space can efficiently improve path planning and navigation resulting in safe, comfortable and optimum paths in autonom…
This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious actions in safety-critical scenarios. The case study investigated is motivated by a setup where an aerial robot acts as a "scout" for a ground robot. This is useful when t…