相关论文: Learning Deep Generative Spatial Models for Mobile…

Generalization to unseen real-world scenarios for robot manipulation requires exposure to diverse datasets during training. However, collecting large real-world datasets is intractable due to high operational costs. For robot learning to…

Beyond their origin in modeling many-body quantum systems, tensor networks have emerged as a promising class of models for solving machine learning problems, notably in unsupervised generative learning. While possessing many desirable…

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…

Sequential modelling of high-dimensional data is an important problem that appears in many domains including model-based reinforcement learning and dynamics identification for control. Latent variable models applied to sequential data…

Using the spatial structure of various indoor environments as prior knowledge, the robot would construct the map more efficiently. Autonomous mobile robots generally apply simultaneous localization and mapping (SLAM) methods to understand…

The commonly used latent space embedding techniques, such as Principal Component Analysis, Factor Analysis, and manifold learning techniques, are typically used for learning effective representations of homogeneous data. However, they do…

Learning and inference movement is a very challenging problem due to its high dimensionality and dependency to varied environments or tasks. In this paper, we propose an effective probabilistic method for learning and inference of basic…

Deep metric learning aims to learn an embedding space where the distance between data reflects their class equivalence, even when their classes are unseen during training. However, the limited number of classes available in training…

Machine learning in drug discovery has been focused on virtual screening of molecular libraries using discriminative models. Generative models are an entirely different approach that learn to represent and optimize molecules in a continuous…

Generative models aim to learn the distribution of observed data by generating new instances. With the advent of neural networks, deep generative models, including variational autoencoders (VAEs), generative adversarial networks (GANs), and…

We introduce the \emph{Symplectic Generative Network (SGN)}, a deep generative model that leverages Hamiltonian mechanics to construct an invertible, volume-preserving mapping between a latent space and the data space. By endowing the…

Adaptable models could greatly benefit robotic agents operating in the real world, allowing them to deal with novel and varying conditions. While approaches such as Bayesian inference are well-studied frameworks for adapting models to…

Deep learning has recently been applied to various research areas of design optimization. This study presents the need and effectiveness of adopting deep learning for generative design (or design exploration) research area. This work…

Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize…

Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact with the world. RGB cameras record 2D images with rich semantic information while missing precise spatial information. On the other side, depth…

Gaussian state space models have been used for decades as generative models of sequential data. They admit an intuitive probabilistic interpretation, have a simple functional form, and enjoy widespread adoption. We introduce a unified…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

We study the problem of 3D object generation. We propose a novel framework, namely 3D Generative Adversarial Network (3D-GAN), which generates 3D objects from a probabilistic space by leveraging recent advances in volumetric convolutional…

Mapping the surrounding environment is essential for the successful operation of autonomous robots. While extensive research has focused on mapping geometric structures and static objects, the environment is also influenced by the movement…

This paper introduces a unified theoretical perspective that views deep generative models as probability transformation functions. Despite the apparent differences in architecture and training methodologies among various types of generative…