Data-Driven Approach to Simulating Realistic Human Joint Constraints

Modeling realistic human joint limits is important for applications involving physical human-robot interaction. However, setting appropriate human joint limits is challenging because it is pose-dependent: the range of joint motion varies depending on the positions of other bones. The paper introduces a new technique to accurately simulate human joint limits in physics simulation. We propose to learn an implicit equation to represent the boundary of valid human joint configurations from real human data. The function in the implicit equation is represented by a fully connected neural network whose gradients can be efficiently computed via back-propagation. Using gradients, we can efficiently enforce realistic human joint limits through constraint forces in a physics engine or as constraints in an optimization problem.Comment: To appear at ICRA 2018; 6 pages, 9 figures; for associated video, see https://youtu.be/wzkoE7wCbu

An Unsupervised Deep Learning Approach for Scenario Forecasts

In this paper, we propose a novel scenario forecasts approach which can be applied to a broad range of power system operations (e.g., wind, solar, load) over various forecasts horizons and prediction intervals. This approach is model-free and data-driven, producing a set of scenarios that represent possible future behaviors based only on historical observations and point forecasts. It first applies a newly-developed unsupervised deep learning framework, the generative adversarial networks, to learn the intrinsic patterns in historical renewable generation data. Then by solving an optimization problem, we are able to quickly generate large number of realistic future scenarios. The proposed method has been applied to a wind power generation and forecasting dataset from national renewable energy laboratory. Simulation results indicate our method is able to generate scenarios that capture spatial and temporal correlations. Our code and simulation datasets are freely available online.Comment: Accepted to Power Systems Computation Conference 2018 Code available at https://github.com/chennnnnyize/Scenario-Forecasts-GA

Generative Adversarial Networks (GANs): Challenges, Solutions, and Future Directions

Generative Adversarial Networks (GANs) is a novel class of deep generative models which has recently gained significant attention. GANs learns complex and high-dimensional distributions implicitly over images, audio, and data. However, there exists major challenges in training of GANs, i.e., mode collapse, non-convergence and instability, due to inappropriate design of network architecture, use of objective function and selection of optimization algorithm. Recently, to address these challenges, several solutions for better design and optimization of GANs have been investigated based on techniques of re-engineered network architectures, new objective functions and alternative optimization algorithms. To the best of our knowledge, there is no existing survey that has particularly focused on broad and systematic developments of these solutions. In this study, we perform a comprehensive survey of the advancements in GANs design and optimization solutions proposed to handle GANs challenges. We first identify key research issues within each design and optimization technique and then propose a new taxonomy to structure solutions by key research issues. In accordance with the taxonomy, we provide a detailed discussion on different GANs variants proposed within each solution and their relationships. Finally, based on the insights gained, we present the promising research directions in this rapidly growing field.Comment: 42 pages, Figure 13, Table