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Fabio DallaLibera

Publications and source records attributed to Fabio DallaLibera.

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Spatial Partial Functionalization of Neural Networks based on Noise Fields

Noise in neural computation is typically regarded as a disturbance, but its spatial distribution may also actively regulate which parts of a network participate in computation. This paper investigates the spatial partial functionalization of Noise-modulated Neural Networks using noise fields. We first present an activation function suitable for this goal, the crossing activation function, using the sample-level, statistical-level, and analytical-level implementations, and examine parameter reuse across these implementations. We then introduce a virtual noise field, an auxiliary continuous space for generating spatially structured network noise fields that activate partially overlapping subnetworks. Using one-dimensional function approximation tasks, we evaluate how multiple functions can be stored in a single network when each function is assigned to a different noise-field location. The results show that memory capacity improves when the spatial arrangement of noise fields reflects the proximity relationships among the functions to be learned, whereas mismatches in noise field structure can reduce effective capacity. These findings suggest that structured noise can serve not only as a perturbation but also as a topology-defining factor for functional subnetwork selection.

cs.NE

Efficient Collision Detection Oriented Motion Primitives for Path Planning

Mobile robots in dynamic environments require fast planning, especially when onboard computational resources are limited. While classic potential field based algorithms may suffice in simple scenarios, in most cases algorithms able to escape local minima are necessary. Configuration-space search algorithms have proven to provide a good trade-off between quality of the solutions and search time. Literature presents a wide variety of approaches that speed up this search by reducing the number of edges that need to be inspected. Much less attention was instead given to reducing the time necessary to evaluate the cost of a single edge. This paper addresses this point by associating edges to motion primitives that prioritize fast collision detection. We show how biarcs can be used as motion primitives that enable fast collision detection, while still providing smooth, tangent continuous paths. The proposed approach does not assume a disc shaped hitbox, making it appealing for all robots with very different width and length or for differential drive robots with active wheels located far from the robot's center.

cs.RO