CGP-Flows replace the unimodal Gaussian process base of a conditional normalizing flow policy with an overlapping mixture of sparse Gaussian processes, improving success rates on multimodal, locally discontinuous robot tasks.
Pattern Recognition45(4), 1386–1395 (2012)
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Composite Gaussian Processes Flows for Learning Discontinuous Multimodal Policies
CGP-Flows replace the unimodal Gaussian process base of a conditional normalizing flow policy with an overlapping mixture of sparse Gaussian processes, improving success rates on multimodal, locally discontinuous robot tasks.