相关论文: Embed to Control: A Locally Linear Latent Dynamics…

Continuous dynamical systems are cornerstones of many scientific and engineering disciplines. While machine learning offers powerful tools to model these systems from trajectory data, challenges arise when these trajectories are captured as…

We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…

We present research using the latest reinforcement learning algorithm for end-to-end driving without any mediated perception (object recognition, scene understanding). The newly proposed reward and learning strategies lead together to…

When manipulating a novel object with complex dynamics, a state representation is not always available, for example for deformable objects. Learning both a representation and dynamics from observations requires large amounts of data. We…

The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of a longer horizon in determining optimal current actions…

Using synthesized images to boost the performance of perception models is a long-standing research challenge in computer vision. It becomes more eminent in visual-centric autonomous driving systems with multi-view cameras as some long-tail…

Learning graph representations is a fundamental task aimed at capturing various properties of graphs in vector space. The most recent methods learn such representations for static networks. However, real world networks evolve over time and…

Research on control using models based on machine-learning methods has now shifted to the practical engineering stage. Achieving high performance and theoretically guaranteeing the safety of the system is critical for such applications. In…

Perceiving meaningful activities in a long video sequence is a challenging problem due to ambiguous definition of 'meaningfulness' as well as clutters in the scene. We approach this problem by learning a generative model for regular motion…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

While modern diffusion models excel at generating high-quality and diverse images, they still struggle with high-fidelity compositional and multimodal control, particularly when users simultaneously specify text prompts, subject references,…

Recent advances in generative models have sparked exciting new possibilities in the field of autonomous vehicles. Specifically, video generation models are now being explored as controllable virtual testing environments. Simultaneously,…

Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…

In this paper, we introduce ControlVAE, a novel model-based framework for learning generative motion control policies based on variational autoencoders (VAE). Our framework can learn a rich and flexible latent representation of skills and a…

Text autoencoders are often used for unsupervised conditional text generation by applying mappings in the latent space to change attributes to the desired values. Recently, Mai et al. (2020) proposed Emb2Emb, a method to learn these…

We propose to learn energy-based model (EBM) in the latent space of a generator model, so that the EBM serves as a prior model that stands on the top-down network of the generator model. Both the latent space EBM and the top-down network…

Recent advances in learning-based model predictive control (MPC) have leveraged neural networks for online model learning, achieving strong performance when nonstationary system dynamics deviate from nominal models. However, existing…

Generative Adversarial Networks (GANs) have been widely applied in modeling diverse image distributions. However, despite its impressive applications, the structure of the latent space in GANs largely remains as a black-box, leaving its…

Latent generative models have emerged as a leading approach for high-quality image synthesis. These models rely on an autoencoder to compress images into a latent space, followed by a generative model to learn the latent distribution. We…

A fundamental problem in computer animation is that of realizing purposeful and realistic human movement given a sufficiently-rich set of motion capture clips. We learn data-driven generative models of human movement using autoregressive…