SMaRCSim: Maritime Robotics Simulation Modules

Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing before field deployment. However, existing tools lack certain functionality for use cases in our project: i) developing learning-based methods for underwater vehicles; ii) creating teams of autonomous underwater, surface, and aerial vehicles; iii) integrating the simulation with mission planning for field experiments. A holistic solution to these problems presents great potential for bringing novel functionality into the underwater domain. In this paper we present SMaRCSim, a set of simulation packages that we have developed to help us address these issues.

Implementing Adaptive Separable Convolution for Video Frame Interpolation

As Deep Neural Networks are becoming more popular, much of the attention is being devoted to Computer Vision problems that used to be solved with more traditional approaches. Video frame interpolation is one of such challenges that has seen new research involving various techniques in deep learning. In this paper, we replicate the work of Niklaus et al. on Adaptive Separable Convolution, which claims high quality results on the video frame interpolation task. We apply the same network structure trained on a smaller dataset and experiment with various different loss functions, in order to determine the optimal approach in data-scarce scenarios. The best resulting model is still able to provide visually pleasing videos, although achieving lower evaluation scores.