5 papers
VisFlow: Interpretable Flow Matching for Visibility Reconstruction, Characterization, and Recognition
Rahul Moorthy, Volkan Isler
Methods for learning continuous representations, such as latent manifolds, are fundamental and ubiquitous in modern machine learning. Yet many geometric objects combine continuous…
Uncertainty Guided Exploratory Trajectory Optimization for Sampling-Based Model Predictive Control
O. Goktug Poyrazoglu, Yukang Cao, Rahul Moorthy +1
Trajectory optimization depends heavily on initialization. In particular, sampling-based approaches are highly sensitive to initial solutions, and limited exploration frequently le…
C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control
Yukang Cao, Rahul Moorthy, O. Goktug Poyrazoglu +1
Trajectory sampling is a key component of sampling-based control mechanisms. Trajectory samplers rely on control input samplers, which generate control inputs u from a distribution…
An Unsupervised C-Uniform Trajectory Sampler with Applications to Model Predictive Path Integral Control
O. Goktug Poyrazoglu, Rahul Moorthy, Yukang Cao +2
Sampling-based model predictive controllers generate trajectories by sampling control inputs from a fixed, simple distribution such as the normal or uniform distributions. This sam…
VisDiff: SDF-Guided Polygon Generation for Visibility Reconstruction and Recognition
Rahul Moorthy, Jun-Jee Chao, Volkan Isler
The ability to capture rich representations of combinatorial structures has enabled the application of machine learning to tasks such as analysis and generation of floorplans, terr…