In high dimensional robotic system, the manifold of the valid configuration space often has a complex shape, especially under constraints such as end-effector orientation or static stability. We propose a generative adversarial network approach to learn the distribution of valid robot configurations under such constraints. It can generate configurations that are close to the constraint manifold. We present two applications of this method. First, by learning the conditional distribution with respect to the desired end-effector position, we can do fast inverse kinematics even for very high degrees of freedom (DoF) systems. Then, we use it to generate samples in sampling-based constrained motion planning algorithms to reduce the necessary projection steps, speeding up the computation. We validate the approach in simulation using the 7-DoF Panda manipulator and the 28-DoF humanoid robot Talos.
Modeling urbanization patterns with generative adversarial networks
Massachusetts Institute of Technology（麻省理工学院）；Lawrence Berkeley National Laboratory (LBNL)（劳伦斯伯克利国家实验室）；German Aerospace Center (DLR)（德国航空航天中心）；Philips Research U.S.A.（飞利浦美国研究院）；University of California, Berkeley（加州大学伯克利分校）
Missing data is a common problem faced with real-world datasets. Imputation is a widely used technique to estimate the missing data. State-of-the-art imputation approaches, such as Generative Adversarial Imputation Nets (GAIN), model the distribution of observed data to approximate the missing values. Such an approach usually models a single distribution for the entire dataset, which overlooks the class-specific characteristics of the data. Class-specific characteristics are especially useful when there is a class imbalance. We propose a new method for imputing missing data based on its class-…
One of the most discussed issues in graph generative modeling is the ordering of the representation. One solution consists of using equivariant generative functions, which ensure the ordering invariance. After having discussed some properties of such functions, we propose 3G-GAN, a 3-stages model relying on GANs and equivariant functions. The model is still under development. However, we present some encouraging exploratory experiments and discuss the issues still to be addressed.
This paper aims to contribute in bench-marking the automatic polyp segmentation problem using generative adversarial networks framework. Perceiving the problem as an image-to-image translation task, conditional generative adversarial networks are utilized to generate masks conditioned by the images as inputs. Both generator and discriminator are convolution neural networks based. The model achieved 0.4382 on Jaccard index and 0.611 as F2 score.
University of Nevada, Reno（内华达大学雷诺分校）；Deakin University（迪肯大学）
Electrocardiogram (ECG) acquisition requires an automated system and analysis pipeline for understanding specific rhythm irregularities. Deep neural networks have become a popular technique for tracing ECG signals, outperforming human experts. Despite this, convolutional neural networks are susceptible to adversarial examples that can misclassify ECG signals and decrease the model's precision. Moreover, they do not generalize well on the out-of-distribution dataset. The GAN architecture has been employed in recent works to synthesize adversarial ECG signals to increase existing training data. …
Sketches are abstract representations of visual perception and visuospatial construction. In this work, we proposed a new framework, Generative Adversarial Networks with Conditional Neural Movement Primitives (GAN-CNMP), that incorporates a novel adversarial loss on CNMP to increase sketch smoothness and consistency. Through the experiments, we show that our model can be trained with few unlabeled samples, can construct distributions automatically in the latent space, and produces better results than the base model in terms of shape consistency and smoothness.
Current AI-generated music lacks fundamental principles of good compositional techniques. By narrowing down implementation issues both programmatically and musically, we can create a better understanding of what parameters are necessary for a generated composition nearly indistinguishable from that of a master composer.
As a new approach to train generative models, \emph{generative adversarial networks} (GANs) have achieved considerable success in image generation. This framework has also recently been applied to data with graph structures. We propose labeled-graph generative adversarial networks (LGGAN) to train deep generative models for graph-structured data with node labels. We test the approach on various types of graph datasets, such as collections of citation networks and protein graphs. Experiment results show that our model can generate diverse labeled graphs that match the structural characteristics…
Algorithmic music composition is a way of composing musical pieces with minimal to no human intervention. While recurrent neural networks are traditionally applied to many sequence-to-sequence prediction tasks, including successful implementations of music composition, their standard supervised learning approach based on input-to-output mapping leads to a lack of note variety. These models can therefore be seen as potentially unsuitable for tasks such as music generation. Generative adversarial networks learn the generative distribution of data and lead to varied samples. This work implements …
Generative Adversarial Networks (GANs) have become predominant in image generation tasks. Their success is attributed to the training regime which employs two models: a generator G and discriminator D that compete in a minimax zero sum game. Nonetheless, GANs are difficult to train due to their sensitivity to hyperparameter and parameter initialisation, which often leads to vanishing gradients, non-convergence, or mode collapse, where the generator is unable to create samples with different variations. In this work, we propose a novel Generative Adversarial Stacked Convolutional Autoencoder(GA…
Korea University（高丽大学）；Georgia Institute of Technology（佐治亚理工学院）；Case Western Reserve University（凯斯西储大学）；University of Central Florida（中佛罗里达大学）
Generative Adversarial Network (GAN) is a useful type of Neural Networks in various types of applications including generative models and feature extraction. Various types of GANs are being researched with different insights, resulting in a diverse family of GANs with a better performance in each generation. This review focuses on various GANs categorized by their common traits.
Generative Adversarial Networks (GAN) is an adversarial model, and it has been demonstrated to be effective for various generative tasks. However, GAN and its variants also suffer from many training problems, such as mode collapse and gradient vanish. In this paper, we firstly propose a general crossover operator, which can be widely applied to GANs using evolutionary strategies. Then we design an evolutionary GAN framework C-GAN based on it. And we combine the crossover operator with evolutionary generative adversarial networks (EGAN) to implement the evolutionary generative adversarial netwo…
Deep Neural Networks (DNNs) have been shown vulnerable to Test-Time Evasion attacks (TTEs, or adversarial examples), which, by making small changes to the input, alter the DNN's decision. We propose an unsupervised attack detector on DNN classifiers based on class-conditional Generative Adversarial Networks (GANs). We model the distribution of clean data conditioned on the predicted class label by an Auxiliary Classifier GAN (AC-GAN). Given a test sample and its predicted class, three detection statistics are calculated based on the AC-GAN Generator and Discriminator. Experiments on image clas…
We propose a framework for generating samples from a probability distribution that differs from the probability distribution of the training set. We use an adversarial process that simultaneously trains three networks, a generator and two discriminators. We refer to this new model as regularized generative adversarial network (RegGAN). We evaluate RegGAN on a synthetic dataset composed of gray scale images and we further show that it can be used to learn some pre-specified notions in topology (basic topology properties). The work is motivated by practical problems encountered while using gener…
Fraunhofer Institute for Digital Medicine MEVIS（弗劳恩霍夫数字医学MEVIS研究所）
Generative networks are fundamentally different in their aim and methods compared to CNNs for classification, segmentation, or object detection. They have initially not been meant to be an image analysis tool, but to produce naturally looking images. The adversarial training paradigm has been proposed to stabilize generative methods, and has proven to be highly successful -- though by no means from the first attempt. This chapter gives a basic introduction into the motivation for Generative Adversarial Networks (GANs) and traces the path of their success by abstracting the basic task and worki…
Center for Data Science, Peking University（北京大学数据科学中心）；School of Mathematical Sciences, Peking University（北京大学数学科学学院）
In this paper we propose a novel approach for stabilizing the training process of Generative Adversarial Networks as well as alleviating the mode collapse problem. The main idea is to introduce a regularization term that we call intervention loss into the objective. We refer to the resulting generative model as Intervention Generative Adversarial Networks (IVGAN). By perturbing the latent representations of real images obtained from an auxiliary encoder network with Gaussian invariant interventions and penalizing the dissimilarity of the distributions of the resulting generated images, the int…
We propose a novel online test generation algorithm WOGAN based on Wasserstein Generative Adversarial Networks. WOGAN is a general-purpose black-box test generator applicable to any system under test having a fitness function for determining failing tests. As a proof of concept, we evaluate WOGAN by generating roads such that a lane assistance system of a car fails to stay on the designated lane. We find that our algorithm has a competitive performance respect to previously published algorithms.
University of Technology Sydney（悉尼科技大学）；The University of Sydney（悉尼大学）；Southern University of Science and Technology（南方科技大学）；University of Birmingham（伯明翰大学）
Generative Adversarial Networks (GAN) are known to produce synthetic data that are difficult to discern from real ones by humans. In this paper we present an approach to use GAN to produce realistically looking ECG signals. We utilize them to train and evaluate a denoising autoencoder that achieves state-of-the-art filtering quality for ECG signals. It is demonstrated that generated data improves the model performance compared to the model trained on real data only. We also investigate an effect of transfer learning by reusing trained discriminator network for denoising model.
