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Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to reliably find a path while satisfying real-time constraints. Efforts to speed up the path search have led to the development of many practical path-planning algorithms. These algorithms often define a search heuristic to guide the search towards the goal. ThearXiv:1908.03343v1 fatcat:hik6voyzh5cvndhkspkuzfto5q
more »... heuristics should be carefully designed for each specific problem to ensure reliability in the various situations encountered in the problem. However, it is often difficult for humans to craft such robust heuristics, and the search performance often degrades under conditions that violate the heuristic assumption. Rather than manually designing the heuristics, in this work, we propose a learning approach to acquire these search heuristics. Our method represents the environment containing the obstacles as an image, and this image is fed into fully convolutional neural networks to produce a search heuristic image where every pixel represents a heuristic value (cost-to-go value to a goal) in the form of a vertex of a search graph. Training the heuristic is performed using previously collected planning results. Our preliminary experiments (2D grid world navigation experiments) demonstrate significant reduction in the search costs relative to a hand-designed heuristic.
Lecture Notes in Computer Science
The method based on local features has an advantage that the important local motion feature is represented as bag-of-features, but lacks the location information. Additionally, in order to employ an approach based on bag-of-features, language models represented by pLSA and LDA (Latent Dirichlet Allocation) have to be applied to. These are unsupervised learning, but they require the number of latent topics to be set manually. In this study, in order to perform the LDA without specifying thedoi:10.1007/978-3-642-12304-7_28 fatcat:qtndtwio75gefm7hm36xseq4s4
more »... r of the latent topics, and also to deal with multiple words concurrently, we propose unsupervised Multiple Instances Hierarchical Dirichlet Process MI-HDP-LDA by employing the local information concurrently. The proposed method, unsupervised MI-HDP-LDA, was evaluated for Weizmann dataset. The average recognition rate by LDA as conventional method was 61.8% and by the proposed method it was 73.7%, resulting in 11.9 points improvement.
Takuya Sawada for assistance. ... Hisae Ariki, Ms. Ikuko Hirotaki, all the staff in Saga Medical School Hospital, the nursing homes for the elderly at Mikazuki, Yuai Village, Kaede, Maple House, Kiyomizuen and Amigia, and Mr. ...doi:10.3164/jcbn.12-89 pmid:23341704 pmcid:PMC3541425 fatcat:cuawv2ddcjhorjr5cd6lcvccay
Hiroki Ariki, Dr. Masato Usui, and Dr. Akihito Mizutani of the Emergency Department of Nishichita General Hospital; Dr. Daisuke Niimi, Dr. Sohta Uchiyama, Dr. Takuya Hinoue, and Dr. ...doi:10.2176/nmc.oa.2021-0012 pmid:34219123 pmcid:PMC8531880 fatcat:opicb3ir3zdczp5gr5hjtrtya4
(Sanjay Jain) 2002f:68070 68Q22 (03D20) Ariki, Susumu Robinson-Schensted correspondence and left cells. Combinatorial methods in representation theory (Kyoto, 1998), 1-20, Adv. Stud. ... (see 2002m:68007) 68W05 (68P05) — (with Kida, Takuya; Matsumoto, Tetsuya; Takeda, Masayuki; Shinohara, Ayumi) Mul- tiple pattern matching algorithms on collage system. ...
Kitamoto, Takuya Approximate algebra and its applications to the design of control systems. (Japanese. Japanese summary) Krishchenko, A. P. see Kanatnikov, A. ... (English summary) 99m:93017 Ariki, Susumu Generic pole assignment via dynamic feedback. (English summary) 99b:93029 Aripirala, Ravi K. A. V. (with Syrmos, Vassilis L.) ...
(Summary) 2004b:68139 68T10 — (with Kida, Takuya; Matsumoto, Tetsuya; Shibata, Yusuke; Takeda, Masayuki; Shinohara, Ayumi) Collage system: a unifying framework for compressed pattern matching. ... (Summary) 2004d:68033 68P30 (68W05) Ariki, Susumu Lectures on cyclotomic Hecke algebras. Quantum groups and Lie theory (Durham, 1999), 1-22, London Math. Soc. Lecture Note Ser., 290, Cambridge Univ. ...
-052 対光反射を用いた定常刺激型注視物体認識システムの研究 ○佐藤 有理生、中谷 慎太郎、西田 信一朗 鳥取大学工学部 機械物理系学科 Study of a gazing recognition system based on light reflex during steady-state stimulation ○ Ariki ... -052） 対光反射を用いた定常刺激型注視物体認識システムの研究 ○佐藤 有理生、中谷 慎太郎、西田 信一朗 鳥取大学工学部 機械物理系学科 Study of a gazing recognition system based on light reflex during steady-state stimulation ○ Ariki ...doi:10.11239/jsmbe.annual58.2 fatcat:c6otpz7wtzh6nboqr6wf2lddhy
Hiroshi Ochi, Yoshitaka Watanabe, and Takuya Shimura ͑Marine Technol. ... Tetsuya Takiguchi, Hiroyoshi Matsuda, and Yasuo Ariki ͑Dept. of Comput. and System Eng., Kobe Univ., 1-1 Rokkodai, Nada, Kobe, Japan, In real noisy environments, a speech detection algorithm plays an ...doi:10.1121/1.4787034 fatcat:brilcvuxpbgdvpdfzwovehoary
Hiroshi Ochi, Yoshitaka Watanabe, and Takuya Shimura ͑Marine Technol. ... Tetsuya Takiguchi, Hiroyoshi Matsuda, and Yasuo Ariki ͑Dept. of Comput. and System Eng., Kobe Univ., 1-1 Rokkodai, Nada, Kobe, 657-8501, Japan, email@example.com͒ In real noisy environments, a speech ...doi:10.1063/1.1755664 pmid:15268219 fatcat:qgbl7hbggvan7eyuyiow2d4yhy
Hiroshi Ochi, Yoshitaka Watanabe, and Takuya Shimura ͑Marine Technol. ... Tetsuya Takiguchi, Hiroyoshi Matsuda, and Yasuo Ariki ͑Dept. of Comput. and System Eng., Kobe Univ., 1-1 Rokkodai, Nada, Kobe, Japan, In real noisy environments, a speech detection algorithm plays an ...doi:10.1121/1.4786982 fatcat:uh2zucni3zaa5nnkivc5sh5tpq
JSIAM Letters［Associate Editor］ 6) Perpelescu M，Hori T，Toyoda A，Misu S，Monma N，Ikeo K，Obuse C，Fujiyama A，Fukagawa T： 人工知能学会［シニア編集委員］ 2010 年−継続中 4) 市瀬龍太郎： "基調講演 ワトソンや人工知能がもたらす顧客対応の革新" ，公益社団法人 企業情報 5) Yuka Ariki ... Method" ，Proc. 27th Annual ACM-SIAM Symposium on Discrete Algorithms (SODA)，pp.570-579 2) Takuya Akiba，Yoichi Iwata，Yuki Kawata： "An Exact Algorithm for Diameters of Large Real 2) Kostal L， Kobayashi R ...doi:10.20736/0000001212 fatcat:utovsw2ruzbzrhdu3jppuntw34
As for the reasons for this, Tamagami Takuya explains that these women are welleducated in terms of the manners at court. ... Whitehouse, 208) waga mi no saihahi aramashikaba, (chichi no chunagon ga) kaku uchi tudzukite ariki tamahashi mo, koyonaki hodo nara de, ikani yokaramashi to omofu ni.... ...doi:10.14288/1.0089067 fatcat:bw2uz4ss2zhcleiyzc2lmzbfaq
Tamagami Takuya (1964) Genji Monogatari Hvoshaku Kadokawa Shoten _ 5. Abe Akio, Akiyama Ken, Imai Gen'e (eds) (1970) Nihon Koten Bungaku Zenshu 12: Genji Monogatari 1 Shogakkan _ _ 6. ... sitaFikikoetamaFu wori nado aru wo ito rautaku omoFikikoetamaFeri Futu mikka uti ni saburaFi oFotono ni mo oFasuru wori Fa ito itaku kusi nado sitamaFeba kokorogurusiute FaFanaki ko motaramu kokoti site ariki ...doi:10.25501/soas.00029291 fatcat:hgl6ygitwbg6ndneccsm3uw4oe