Related papers: Constructing the Umwelt: Cognitive Planning throug…

This paper describes a novel method for allowing an autonomous ground vehicle to predict the intent of other agents in an urban environment. This method, termed the cognitive driving framework, models both the intent and the potentially…

In autonomous driving, predicting future events in advance and evaluating the foreseeable risks empowers autonomous vehicles to better plan their actions, enhancing safety and efficiency on the road. To this end, we propose Drive-WM, the…

Catastrophic forgetting remains a fundamental challenge in continual learning, in which models often forget previous knowledge when fine-tuned on a new task. This issue is especially pronounced in class incremental learning (CIL), which is…

Theory of Mind (ToM), the ability to attribute beliefs, intentions, or mental states to others, is a crucial feature of human social interaction. In complex environments, where the human sensory system reaches its limits, behaviour is…

Planning in modern LLM agents relies on the utilization of LLM as an internal world model, acquired during pretraining. However, existing agent designs fail to effectively assimilate new observations into dynamic updates of the world model.…

Large Vision-Language Models (LVLMs) show promise for embodied planning tasks but struggle with complex scenarios involving unfamiliar environments and multi-step goals. Current approaches rely on environment-agnostic imitation learning…

Model-based reinforcement learning (MBRL) with real-time planning has shown great potential in locomotion and manipulation control tasks. However, the existing planning methods, such as the Cross-Entropy Method (CEM), do not scale well to…

We propose a hybrid approach to machine Theory of Mind (ToM) that uses large language models (LLMs) as a mechanism for generating hypotheses and likelihood functions with a Bayesian inverse planning model that computes posterior…

A world model is an AI system that simulates how an environment evolves under actions, enabling planning through imagined futures rather than reactive perception. Current world models, however, suffer from visual conflation: the mistaken…

This comprehensive report distinguishes prior works by the cognitive functions they innovate. Many works claim an almost "human-like" cognitive capability in their world models. To evaluate these claims requires a proper grounding in first…

Machine learning is a vital part of many real-world systems, but several concerns remain about the lack of interpretability, explainability and robustness of black-box AI systems. Concept Bottleneck Models (CBM) address some of these…

Autonomous driving technology has seen significant advancements, but existing models often fail to fully capture the complexity of multi-agent environments, where interactions between dynamic agents are critical. To address this, we propose…

We introduce Latent-WAM, an efficient end-to-end autonomous driving framework that achieves strong trajectory planning through spatially-aware and dynamics-informed latent world representations. Existing world-model-based planners suffer…

Real-world artificial intelligence (AI) systems are increasingly required to operate autonomously in dynamic, uncertain, and continuously changing environments. However, most existing AI models rely on predefined objectives, static training…

Adapting quickly to dynamic, uncertain environments-often called "open worlds"-remains a major challenge in robotics. Traditional Task and Motion Planning (TAMP) approaches struggle to cope with unforeseen changes, are data-inefficient when…

Large Language Models (LLMs) and Multimodal LLMs (MLLMs) have demonstrated immense potential in autonomous driving (AD) by offering human-like reasoning and open-world generalization. However, the excessive computational overhead and high…

The dominant artificial intelligence paradigm trains neural architectures via gradient descent against proxy objectives and reinforcement learning from human feedback. While remarkably capable, this top-down optimization inherently…

Theory of Mind (ToM) -- the ability to understand that others can have differing knowledge and goals -- enables agents to reason about others' beliefs while planning their own actions. We present a novel approach to multi-agent cooperation…

This paper introduces a unifying framework that links the Context-Content Uncertainty Principle (CCUP) with optimal transport (OT) via primal-dual inference. We propose that cognitive representations are not static encodings but active dual…

Concept Bottleneck Models (CBMs) aim for ante-hoc interpretability by learning a bottleneck layer that predicts interpretable concepts before the decision. State-of-the-art approaches typically select which concepts to learn via human…