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Multiobjective Evolution of Biped Robot Gaits Using Advanced Continuous Ant-Colony Optimized Recurrent Neural Networks.

This paper proposes the optimization of a fully connected recurrent neural network (FCRNN) using advanced multiobjective continuous ant colony optimization (AMO-CACO) for the multiobjective gait generation of a biped robot (the NAO). The FCRNN functions as a central pattern generator and is optimized to generate angles of the hip roll and pitch, the knee pitch, and the ankle pitch and roll. The performance of the FCRNN-generated gait is evaluated according to the walking speed, trajectory straightness, oscillations of the body in the pitch and yaw directions, and walking posture, subject to the basic constraints that the robot cannot fall down and must walk forward. This paper formulates this gait generation task as a constrained multiobjective optimization problem and solves this problem through an AMO-CACO-based evolutionary learning approach. The AMO-CACO finds Pareto optimal solutions through ant-path selection and sampling operations by introducing an accumulated rank for the solutions in each single-objective function into solution sorting to improve learning performance. Simulations are conducted to verify the AMO-CACO-based FCRNN gait generation performance through comparisons with different multiobjective optimization algorithms. Selected software-designed Pareto optimal FCRNNs are then applied to control the gait of a real NAO robot.

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Fast Physically Correct Refocusing for Sparse Light Fields Using Block-Based Multi-Rate View Interpolation.

Digital refocusing has a tradeoff between complexity and quality when using sparsely sampled light fields for low-storage applications. In this paper, we propose a fast physically correct refocusing algorithm to address this issue in a twofold way. First, view interpolation is adopted to provide photorealistic quality at infocus-defocus hybrid boundaries. Regarding its conventional high complexity, we devised a fast line-scan method specifically for refocusing, and its 1D kernel can be 30× faster than the benchmark View Synthesis Reference Software (VSRS)-1D-Fast. Second, we propose a block-based multi-rate processing flow for accelerating purely infocused or defocused regions, and a further 3- 34× speedup can be achieved for high-resolution images. All candidate blocks of variable sizes can interpolate different numbers of rendered views and perform refocusing in different subsampled layers. To avoid visible aliasing and block artifacts, we determine these parameters and the simulated aperture filter through a localized filter response analysis using defocus blur statistics. The final quadtree block partitions are then optimized in terms of computation time. Extensive experimental results are provided to show superior refocusing quality and fast computation speed. In particular, the run time is comparable with the conventional single-image blurring, which causes serious boundary artifacts.

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