相关论文: Discovering Underlying Plans Based on Distributed …

It is vital to learn effective policies that can be transferred to different domains with dynamics discrepancies in reinforcement learning (RL). In this paper, we consider dynamics adaptation settings where there exists dynamics mismatch…

Despite the popularisation of machine learning models, more often than not, they still operate as black boxes with no insight into what is happening inside the model. There exist a few methods that allow to visualise and explain why a model…

A change points detection aims to catch an abrupt disorder in data distribution. Common approaches assume that there are only two fixed distributions for data: one before and another after a change point. Real-world data are richer than…

Machine learning algorithms using deep architectures have been able to implement increasingly powerful and successful models. However, they also become increasingly more complex, more difficult to comprehend and easier to fool. So far, most…

A commercial robot, trained by its manufacturer to recognize a predefined number and type of objects, might be used in many settings, that will in general differ in their illumination conditions, background, type and degree of clutter, and…

It has been recently shown that lifted STRIPS models can be learned correctly and efficiently from action traces alone; i.e., applicable action sequences from a hidden STRIPS model. The result is remarkable because the states are not…

We propose a novel approach to learn relational policies for classical planning based on learning to rank actions. We introduce a new graph representation that explicitly captures action information and propose a Graph Neural Network (GNN)…

We present a system to infer and execute a human-readable program from a real-world demonstration. The system consists of a series of neural networks to perform perception, program generation, and program execution. Leveraging convolutional…

Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…

We propose a novel visual tracking algorithm based on the representations from a discriminatively trained Convolutional Neural Network (CNN). Our algorithm pretrains a CNN using a large set of videos with tracking ground-truths to obtain a…

The success of neural networks builds to a large extent on their ability to create internal knowledge representations from real-world high-dimensional data, such as images, sound, or text. Approaches to extract and present these…

One explanation for how people can plan efficiently despite limited cognitive resources is that we possess a set of adaptive planning strategies and know when and how to use them. But how are these strategies acquired? While previous…

Recent advances in large-scale pretraining have yielded visual foundation models with strong capabilities. Not only can recent models generalize to arbitrary images for their training task, their intermediate representations are useful for…

One of the main challenges for broad adoption of deep learning based models such as convolutional neural networks (CNN), is the lack of understanding of their decisions. In many applications, a simpler, less capable model that can be easily…

Compact representations of objects is a common concept in computer science. Automated planning can be viewed as a case of this concept: a planning instance is a compact implicit representation of a graph and the problem is to find a path (a…

This paper proposes a novel learning architecture for acquiring generalizable high-level symbolic skills from a few unlabeled low-level skill trajectory demonstrations. The architecture involves neural networks for symbol discovery and…

The paradigms of transformational planning, case-based planning, and plan debugging all involve a process known as plan adaptation - modifying or repairing an old plan so it solves a new problem. In this paper we provide a…

Process discovery is one of the primary process mining tasks and starting point for process improvements using event data. Existing process discovery techniques aim to find process models that best describe the observed behavior. The focus…

Distributed learning paradigms such as federated learning often involve transmission of model updates, or gradients, over a network, thereby avoiding transmission of private data. However, it is possible for sensitive information about the…

We propose a novel general method that finds action-grounded, discrete object and effect categories and builds probabilistic rules over them for non-trivial action planning. Our robot interacts with objects using an initial action…