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We address tracking and prediction of multiple moving objects in visual data streams as inference and sampling in a disentangled latent state-space model. By encoding objects separately and including explicit position information in the…

The goal of metric learning is to learn a function that maps samples to a lower-dimensional space where similar samples lie closer than dissimilar ones. Particularly, deep metric learning utilizes neural networks to learn such a mapping.…

Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a higher level while being invariant to the appearance of the…

Variational methods are widely applied to ill-posed inverse problems for they have the ability to embed prior knowledge about the solution. However, the level of performance of these methods significantly depends on a set of parameters,…

Learning a good state representation is a critical skill when dealing with multiple tasks in Reinforcement Learning as it allows for transfer and better generalization between tasks. However, defining what constitute a useful representation…

As we deploy autonomous agents in safety-critical domains, it becomes important to develop an understanding of their internal mechanisms and representations. We outline an approach to imitation learning for reverse-engineering black box…

In this paper, we propose an incremental abstraction method for dynamically over-approximating nonlinear systems in a bounded domain by solving a sequence of linear programs, resulting in a sequence of affine upper and lower hyperplanes…

Deep neural networks have shown superior performance in many regimes to remember familiar patterns with large amounts of data. However, the standard supervised deep learning paradigm is still limited when facing the need to learn new…

Building systems that autonomously create temporal abstractions from data is a key challenge in scaling learning and planning in reinforcement learning. One popular approach for addressing this challenge is the options framework (Sutton et…

Representation learning is the foundation for the recent success of neural network models. However, the distributed representations generated by neural networks are far from ideal. Due to their highly entangled nature, they are di cult to…

This paper develops a decision algorithm for weak bisimulation on Markov Automata (MA). For that purpose, different notions of vanishing state (a concept known from the area of Generalised Stochastic Petri Nets) are defined. Vanishing…

In this paper we present the extension of an existing method for abstract graph-based state space exploration, called neighbourhood abstraction, with a reduction technique based on subsumption. Basically, one abstract state subsumes another…

Data-efficient learning in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. In this paper, we consider one instance of this challenge, the pixels to…

Masked autoencoders have become popular training paradigms for self-supervised visual representation learning. These models randomly mask a portion of the input and reconstruct the masked portion according to the target representations. In…

We propose a novel machine learning strategy for studying neuroanatomical shape variation. Our model works with volumetric binary segmentation images, and requires no pre-processing such as the extraction of surface points or a mesh. The…

This work studies networked agents cooperating to track a dynamical state of nature under partial information. The proposed algorithm is a distributed Bayesian filtering algorithm for finite-state hidden Markov models (HMMs). It can be used…

Automatic data abstraction is an important capability for both benchmarking machine intelligence and supporting summarization applications. In the former one asks whether a machine can `understand' enough about the meaning of input data to…

The practical impact of abstraction-based controller synthesis methods is currently limited by the immense computational effort for obtaining abstractions. In this note we focus on a recently proposed method to compute abstractions whose…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

We propose a method for sim-to-real robot learning which exploits simulator state information in a way that scales to many objects. We first train a pair of encoder networks to capture multi-object state information in a latent space. One…