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Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…
In this work, we propose a method for learning driver models that account for variables that cannot be observed directly. When trained on a synthetic dataset, our models are able to learn encodings for vehicle trajectories that distinguish…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
Fully cooperative multiagent systems - those in which agents share a joint utility model- is of special interest in AI. A key problem is that of ensuring that the actions of individual agents are coordinated, especially in settings where…
We present a representation for describing transition models in complex uncertain domains using relational rules. For any action, a rule selects a set of relevant objects and computes a distribution over properties of just those objects in…
To be practically useful, modern static analyzers must precisely model the effect of both, statements in the programming language as well as frameworks used by the program under analysis. While important, manually addressing these…
Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…
Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…
We present a state-based regression function for planning domains where an agent does not have complete information and may have sensing actions. We consider binary domains and employ a three-valued characterization of domains with sensing…
Imagine a smart camera trap selectively clicking pictures to understand animal movement patterns within a particular habitat. These "snapshots", or pieces of data captured from a data stream at adaptively chosen times, provide a glimpse of…
We discuss how to achieve mapping from large sets of imperfect simulations and observational data with unsupervised domain adaptation. Under the hypothesis that simulated and observed data distributions share a common underlying…
Complex systems which can be represented in the form of static and dynamic graphs arise in different fields, e.g. communication, engineering and industry. One of the interesting problems in analysing dynamic network structures is to monitor…
In this paper, the problem of training a classifier on a dataset with incomplete features is addressed. We assume that different subsets of features (random or structured) are available at each data instance. This situation typically occurs…
3D object detectors are fundamental components of perception systems in autonomous vehicles. While these detectors achieve remarkable performance on standard autonomous driving benchmarks, they often struggle to generalize across different…
We introduce a method for learning the dynamics of complex nonlinear systems based on deep generative models over temporal segments of states and actions. Unlike dynamics models that operate over individual discrete timesteps, we learn the…
Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…
Recent advances in visual activity recognition have raised the possibility of applications such as automated video surveillance. Effective approaches for such problems however require the ability to recognize the plans of agents from video…
Learning interpretable representations of neural dynamics at a population level is a crucial first step to understanding how observed neural activity relates to perception and behavior. Models of neural dynamics often focus on either…
Temporal-difference (TD) networks are a class of predictive state representations that use well-established TD methods to learn models of partially observable dynamical systems. Previous research with TD networks has dealt only with…
We consider the problem of learning a realization of a partially observed dynamical system with linear state transitions and bilinear observations. Under very mild assumptions on the process and measurement noises, we provide a finite time…