arXiv subjects

Tianying Wang

Publications and source records attributed to Tianying Wang.

21 records · Page 2Linked to original sources

arXiv2019

RoboCoDraw: Robotic Avatar Drawing with GAN-based Style Transfer and Time-efficient Path Optimization

Robotic drawing has become increasingly popular as an entertainment and interactive tool. In this paper we present RoboCoDraw, a real-time collaborative robot-based drawing system that draws stylized human face sketches interactively in front of human users, by using the Generative Adversarial Network (GAN)-based style transfer and a Random-Key Genetic Algorithm (RKGA)-based path optimization. The proposed RoboCoDraw system takes a real human face image as input, converts it to a stylized avatar, then draws it with a robotic arm. A core component in this system is the Avatar-GAN proposed by us, which generates a cartoon avatar face image from a real human face. AvatarGAN is trained with unpaired face and avatar images only and can generate avatar images of much better likeness with human face images in comparison with the vanilla CycleGAN. After the avatar image is generated, it is fed to a line extraction algorithm and converted to sketches. An RKGA-based path optimization algorithm is applied to find a time-efficient robotic drawing path to be executed by the robotic arm. We demonstrate the capability of RoboCoDraw on various face images using a lightweight, safe collaborative robot UR5.

cs.RO↗

arXiv2019

Efficient Robotic Task Generalization Using Deep Model Fusion Reinforcement Learning

Learning-based methods have been used to pro-gram robotic tasks in recent years. However, extensive training is usually required not only for the initial task learning but also for generalizing the learned model to the same task but in different environments. In this paper, we propose a novel Deep Reinforcement Learning algorithm for efficient task generalization and environment adaptation in the robotic task learning problem. The proposed method is able to efficiently generalize the previously learned task by model fusion to solve the environment adaptation problem. The proposed Deep Model Fusion (DMF) method reuses and combines the previously trained model to improve the learning efficiency and results.Besides, we also introduce a Multi-objective Guided Reward(MGR) shaping technique to further improve training efficiency.The proposed method was benchmarked with previous methods in various environments to validate its effectiveness.

cs.RO↗

arXiv2018

Sparse quadratic classification rules via linear dimension reduction

We consider the problem of high-dimensional classification between the two groups with unequal covariance matrices. Rather than estimating the full quadratic discriminant rule, we propose to perform simultaneous variable selection and linear dimension reduction on original data, with the subsequent application of quadratic discriminant analysis on the reduced space. In contrast to quadratic discriminant analysis, the proposed framework doesn't require estimation of precision matrices and scales linearly with the number of measurements, making it especially attractive for the use on high-dimensional datasets. We support the methodology with theoretical guarantees on variable selection consistency, and empirical comparison with competing approaches. We apply the method to gene expression data of breast cancer patients, and confirm the crucial importance of ESR1 gene in differentiating estrogen receptor status.

stat.ML↗