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Fully Convolutional Search Heuristic Learning for Rapid Path Planners [article]

Yuka Ariki, Takuya Narihira
2019 arXiv   pre-print
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. The
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.
arXiv:1908.03343v1 fatcat:hik6voyzh5cvndhkspkuzfto5q

Human Action Recognition Using HDP by Integrating Motion and Location Information [chapter]

Yasuo Ariki, Takuya Tonaru, Tetsuya Takiguchi
2010 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 the
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.
doi:10.1007/978-3-642-12304-7_28 fatcat:qtndtwio75gefm7hm36xseq4s4

Arm span–height difference is correlated with gastroesophageal reflux symptoms in aged Japanese subjects

Hitoshi Eguchi, Yuichiro Eguchi, Motoshi Fujiwara, Midori Nishii, Yoshinori Tokushima, Naoko Eguchi, Masaki Tago, Yuta Sakanishi, Motosuke Tomonaga, Tsuneaki Yoshioka, Masaki Hyakutake, Sei Emura (+8 others)
2013 Journal of clinical biochemistry and nutrition  
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

Factors Associated with Prolonged Impairment of Consciousness in Adult Patients Admitted for Seizures: A Comprehensive Single-center Study

Shunsuke NAKAE, Masanobu KUMON, Shigeta MORIYA, Shinichiro TATEYAMA, Yushi KAWAZOE, Kei YAMASHIRO, Joji INAMASU, Yuichi HIROSE
2021 Neurologia medico-chirurgica  
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

Page 74 of Mathematical Reviews Vol. , Issue Author Index [page]

Mathematical Reviews  
(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.  ... 

Page 2280 of Mathematical Reviews Vol. 31, Issue Index [page]

Mathematical Reviews  
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.)  ... 

Page 92 of Mathematical Reviews Vol. , Issue Index [page]

Mathematical Reviews  
(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.  ... 

Program
プログラム

Japanese Society for Medical and Biological Engineering
2020 Transactions of Japanese Society for Medical and Biological Engineering  
-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

Auralization of an orchestra using multichannel and multisource technique

Michelle C. Vigeant, Lily M. Wang, Jens Holger Rindel
2006 Journal of the Acoustical Society of America  
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

Adsorption and diffusion on a stepped surface: Atomic hydrogen on Pt(211)

R. A. Olsen, Ş. C. Bădescu, S. C. Ying, E. J. Baerends
2004 Journal of Chemical Physics  
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, takigu@kobe-u.ac.jp͒ In real noisy environments, a speech  ... 
doi:10.1063/1.1755664 pmid:15268219 fatcat:qgbl7hbggvan7eyuyiow2d4yhy

A transparency model and its applications for simulation of reflector arrays and sound transmission

Claus Lynge Christensen, Jens Holger Rindel
2006 Journal of the Acoustical Society of America  
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

Annual Report 2015
国立情報学研究所 平成27年度(2015年度)年報

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

"Bride-stealing" and royal power in classical Japanese literature

Aki Hasebe
1999
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

The "Genji Monogatari": A loose sequence of vague phrases?

Thomas Evelyn McAuley
1995
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