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.
IEEE Transactions on Pattern Analysis and Machine Intelligence 37(2), 408–423 (2013)
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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.