AORRTC: Almost-Surely Asymptotically Optimal Planning with RRT-Connect

Finding high-quality solutions quickly is an important objective in motion planning. This is especially true for high-degree-of-freedom robots. Satisficing planners have traditionally found feasible solutions quickly but provide no guarantees on their optimality, while almost-surely asymptotically optimal (a.s.a.o.) planners have probabilistic guarantees on their convergence towards an optimal solution but are more computationally expensive. This paper uses the AO-x meta-algorithm to extend the satisficing RRT-Connect planner to optimal planning. The resulting Asymptotically Optimal RRT-Connect (AORRTC) finds initial solutions in similar times as RRT-Connect and uses any additional planning time to converge towards the optimal solution in an anytime manner. It is proven to be probabilistically complete and a.s.a.o. AORRTC was tested with the Panda (7 DoF) and Fetch (8 DoF) robotic arms on the MotionBenchMaker dataset. These experiments show that AORRTC finds initial solutions as fast as RRT-Connect and faster than the tested state-of-the-art a.s.a.o. algorithms while converging to better solutions faster. AORRTC finds solutions to difficult high-DoF planning problems in milliseconds where the other a.s.a.o. planners could not consistently find solutions in seconds. This performance was demonstrated both with and without single instruction/multiple data (SIMD) acceleration.

DeepExtrema: A Deep Learning Approach for Forecasting Block Maxima in Time Series Data

Accurate forecasting of extreme values in time series is critical due to the significant impact of extreme events on human and natural systems. This paper presents DeepExtrema, a novel framework that combines a deep neural network (DNN) with generalized extreme value (GEV) distribution to forecast the block maximum value of a time series. Implementing such a network is a challenge as the framework must preserve the inter-dependent constraints among the GEV model parameters even when the DNN is initialized. We describe our approach to address this challenge and present an architecture that enables both conditional mean and quantile prediction of the block maxima. The extensive experiments performed on both real-world and synthetic data demonstrated the superiority of DeepExtrema compared to other baseline methods.