Score-based diffusion models (Song et al., 2021) have recently received significant attention within the

Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these planners, since they do not consider CG height and its effects, is not unique for different vehicle types, especially for high CG vehicles. As a result, the tracking controller may have to work hard to avoid vehicle handling and comfort constraints while trying to realize these sub-optimal trajectories. This paper tries to address this problem by considering a planner with simplified double track model with estimation of lateral and roll based load transfer using steady state equations and a simplified tire model to reduce solver workload. The developed planner is compared with the widely used particle and kinematic model planners in collision avoidance scenarios in both high and low acceleration conditions and with different vehicle heights.

Particle-based deep generative models, such as gradient flows and score-based diffusion models, have recently gained traction thanks to their striking performance. Their principle of displacing particle distributions using differential equations is conventionally seen as opposed to the previously widespread generative adversarial networks (GANs), which involve training a pushforward generator network. In this paper we challenge this interpretation, and propose a novel framework that unifies particle and adversarial generative models by framing generator training as a generalization of particle models. This suggests that a generator is an optional addition to any such generative model. Consequently, integrating a generator into a score-based diffusion model and training a GAN without a generator naturally emerge from our framework. We empirically test the viability of these original models as proofs of concepts of potential applications of our framework.

A big challenge for creating human-level game AI is building agents capable of operating in imperfect information environments. In real-time strategy games the technological progress of an opponent and locations of enemy units are partially observable. To overcome this limitation, we explore a particle-based approach for estimating the location of enemy units that have been encountered. We represent state estimation as an optimization problem, and automatically learn parameters for the particle model by mining a corpus of expert StarCraft replays. The particle model tracks opponent units and provides conditions for activating tactical behaviors in our StarCraft bot. Our results show that incorporating a learned particle model improves the performance of EISBot by 10% over baseline approaches.

A big challenge for creating human-level game AI is building agents capable of operating in imperfect information environments. In real-time strategy games the technological progress of an opponent and locations of enemy units are partially observable. To overcome this limitation, we explore a particle-based approach for estimating the location of enemy units that have been encountered. We represent state estimation as an optimization problem, and automatically learn parameters for the particle model by mining a corpus of expert StarCraft replays. The particle model tracks opponent units and provides conditions for activating tactical behaviors in our StarCraft bot. Our results show that incorporating a learned particle model improves the performance of EISBot by 10% over baseline approaches.

We carry out a comparative study of the expressive power of different ontologies of matter in terms of the ease with which simple physical knowledge can be represented. In particular, we consider five ontologies of models of matter: particle models, fields, two ontologies for continuous material, and a hybrid model. We evaluate these in terms of how easily eleven benchmark physical laws and scenarios can be represented.

Plasmodium of \emph{Physarum polycephalum} is a single cell visible by unaided eye. The plasmodium's foraging behaviour is interpreted in terms of computation. Input data is a configuration of nutrients, result of computation is a network of plasmodium's cytoplasmic tubes spanning sources of nutrients. Tsuda et al (2004) experimentally demonstrated that basic logical gates can be implemented in foraging behaviour of the plasmodium. We simplify the original designs of the gates and show --- in computer models --- that the plasmodium is capable for computation of two-input two-output gate $ \to $ and three-input two-output $ \to < \bar{x}yz, x+y+z>$. We assemble the gates in a binary one-bit adder and demonstrate validity of the design using computer simulation.