相关论文: Hierarchical Evidence Accumulation in the Pseiki S…

Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that integrating data-driven rewards with rule-based objectives…

Decision making via sequence modeling aims to mimic the success of language models, where actions taken by an embodied agent are modeled as tokens to predict. Despite their promising performance, it remains unclear if embodied sequence…

Object recognition is a key function in both human and machine vision. While recent studies have achieved fMRI decoding of seen and imagined contents, the prediction is limited to training examples. We present a decoding approach for…

Ease of programming is a key factor in making robots ubiquitous in unstructured environments. In this work, we present a sensorized gripper built with off-the-shelf parts, used to record human demonstrations of a box in box assembly task.…

Automation driving techniques have seen tremendous progresses these last years, particularly due to a better perception of the environment. In order to provide safe yet not too conservative driving in complex urban environment, data fusion…

The belief function approach to uncertainty quantification as proposed in the Demspter-Shafer theory of evidence is established upon the general mathematical models for set-valued observations, called random sets. Set-valued predictions are…

A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…

We propose an embodied system based on the free energy principle (FEP) for sensorimotor visual perception. We evaluated it in a character-recognition task using the MNIST dataset. Although the FEP has successfully described a rule that…

A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…

This paper presents a novel approach to pedestrian trajectory prediction for on-board camera systems, which utilizes behavioral features of pedestrians that can be inferred from visual observations. Our proposed method, called…

This paper develops a probabilistic anticipation algorithm for dynamic objects observed by an autonomous robot in an urban environment. Predictive Gaussian mixture models are used due to their ability to probabilistically capture continuous…

This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…

Critical for the coexistence of humans and robots in dynamic environments is the capability for agents to understand each other's actions, and anticipate their movements. This paper presents Stochastic Process Anticipatory Navigation…

This paper proposes a hierarchical Bayesian model based on spatial concepts that enables a robot to transfer the knowledge of places from experienced environments to a new environment. The transfer of knowledge based on spatial concepts is…

Humans have the capacity to question what we see and to recognize when our vision is unreliable (e.g., when we realize that we are experiencing a visual illusion). Inspired by this capacity, we present MetaCOG: a hierarchical probabilistic…

This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variations caused by human activities. Unlike previous approaches,…

Sequence models in reinforcement learning require task knowledge to estimate the task policy. This paper presents a hierarchical algorithm for learning a sequence model from demonstrations. The high-level mechanism guides the low-level…

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form…