Diffuse Map Guiding Unsupervised Generative Adversarial Network for SVBRDF Estimation

Reconstructing materials in the real world has always been a difficult problem in computer graphics. Accurately reconstructing the material in the real world is critical in the field of realistic rendering. Traditionally, materials in computer graphics are mapped by an artist, then mapped onto a geometric model by coordinate transformation, and finally rendered with a rendering engine to get realistic materials. For opaque objects, the industry commonly uses physical-based bidirectional reflectance distribution function (BRDF) rendering models for material modeling. The commonly used physical-based rendering models are Cook-Torrance BRDF, Disney BRDF. In this paper, we use the Cook-Torrance model to reconstruct the materials. The SVBRDF material parameters include Normal, Diffuse, Specular and Roughness. This paper presents a Diffuse map guiding material estimation method based on the Generative Adversarial Network(GAN). This method can predict plausible SVBRDF maps with global features using only a few pictures taken by the mobile phone. The main contributions of this paper are: 1) We preprocess a small number of input pictures to produce a large number of non-repeating pictures for training to reduce over-fitting. 2) We use a novel method to directly obtain the guessed diffuse map with global characteristics, which provides more prior information for the training process. 3) We improve the network architecture of the generator so that it can generate fine details of normal maps and reduce the possibility to generate over-flat normal maps. The method used in this paper can obtain prior knowledge without using dataset training, which greatly reduces the difficulty of material reconstruction and saves a lot of time to generate and calibrate datasets.

Flatland Competition 2020: MAPF and MARL for Efficient Train Coordination on a Grid World

The Flatland competition aimed at finding novel approaches to solve the vehicle re-scheduling problem (VRSP). The VRSP is concerned with scheduling trips in traffic networks and the re-scheduling of vehicles when disruptions occur, for example the breakdown of a vehicle. While solving the VRSP in various settings has been an active area in operations research (OR) for decades, the ever-growing complexity of modern railway networks makes dynamic real-time scheduling of traffic virtually impossible. Recently, multi-agent reinforcement learning (MARL) has successfully tackled challenging tasks where many agents need to be coordinated, such as multiplayer video games. However, the coordination of hundreds of agents in a real-life setting like a railway network remains challenging and the Flatland environment used for the competition models these real-world properties in a simplified manner. Submissions had to bring as many trains (agents) to their target stations in as little time as possible. While the best submissions were in the OR category, participants found many promising MARL approaches. Using both centralized and decentralized learning based approaches, top submissions used graph representations of the environment to construct tree-based observations. Further, different coordination mechanisms were implemented, such as communication and prioritization between agents. This paper presents the competition setup, four outstanding solutions to the competition, and a cross-comparison between them.

PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning -- Lifelong

Multi-agent path finding (MAPF) is an indispensable component of large-scale robot deployments in numerous domains ranging from airport management to warehouse automation. In particular, this work addresses lifelong MAPF (LMAPF) -- an online variant of the problem where agents are immediately assigned a new goal upon reaching their current one -- in dense and highly structured environments, typical of real-world warehouses operations. Effectively solving LMAPF in such environments requires expensive coordination between agents as well as frequent replanning abilities, a daunting task for existing coupled and decoupled approaches alike. With the purpose of achieving considerable agent coordination without any compromise on reactivity and scalability, we introduce PRIMAL2, a distributed reinforcement learning framework for LMAPF where agents learn fully decentralized policies to reactively plan paths online in a partially observable world. We extend our previous work, which was effective in low-density sparsely occupied worlds, to highly structured and constrained worlds by identifying behaviors and conventions which improve implicit agent coordination, and enabling their learning through the construction of a novel local agent observation and various training aids. We present extensive results of PRIMAL2 in both MAPF and LMAPF environments with up to 1024 agents and compare its performance to complete state-of-the-art planners. We experimentally observe that agents successfully learn to follow ideal conventions and can exhibit selfless coordinated maneuvers that maximize joint rewards. We find that not only does PRIMAL2 significantly surpass our previous work, it is also able to perform on par and even outperform state-of-the-art planners in terms of throughput.