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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
A Unified Perspective on Natural Gradient Variational Inf...
Oleg Arenz, Philipp Dahlinger, Zihan Ye, Michael Volpp, Gerhard · 2022-09-23 · via cs.RO updates on arXiv.org

Variational inference with Gaussian mixture models (GMMs) enables learning of highly tractable yet multi-modal approximations of intractable target distributions with up to a few hundred dimensions. The two currently most effective methods for GMM-based variational inference, VIPS and iBayes-GMM, both employ independent natural gradient updates for the individual components and their weights. We show for the first time, that their derived updates are equivalent, although their practical implementations and theoretical guarantees differ. We identify several design choices that distinguish both approaches, namely with respect to sample selection, natural gradient estimation, stepsize adaptation, and whether trust regions are enforced or the number of components adapted. We argue that for both approaches, the quality of the learned approximations can heavily suffer from the respective design choices: By updating the individual components using samples from the mixture model, iBayes-GMM often fails to produce meaningful updates to low-weight components, and by using a zero-order method for estimating the natural gradient, VIPS scales badly to higher-dimensional problems. Furthermore, we show that information-geometric trust-regions (used by VIPS) are effective even when using first-order natural gradient estimates, and often outperform the improved Bayesian learning rule (iBLR) update used by iBayes-GMM. We systematically evaluate the effects of design choices and show that a hybrid approach significantly outperforms both prior works. Along with this work, we publish our highly modular and efficient implementation for natural gradient variational inference with Gaussian mixture models, which supports 432 different combinations of design choices, facilitates the reproduction of all our experiments, and may prove valuable for the practitioner.