相关论文: Bayesian Body Schema Estimation using Tactile Info…

Biological processes underlying the basic functions of a cell involve complex interactions between genes. From a technical point of view, these interactions can be represented through a graph where genes and their connections are,…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

A new approach on the joint estimation of partially exchangeable observations is presented by constructing pairwise dependence between $m$ random density functions, each of which is modeled as a mixture of geometric stick breaking…

The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…

Tree structured graphical models are powerful at expressing long range or hierarchical dependency among many variables, and have been widely applied in different areas of computer science and statistics. However, existing methods for…

The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…

Given an unknown dynamic system such as a coupled harmonic oscillator with $n$ springs and point masses. We are often interested in gaining insights into its physical parameters, i.e. stiffnesses and masses, by observing trajectories of…

In this paper, we discuss the angular momentum distribution in the ground states of many-body systems interacting via a two-body random ensemble. Beginning with a few simple examples, a simple approach to predict P(I)'s, angular momenta I…

We propose a new architecture for the learning of predictive spatio-temporal motion models from data alone. Our approach, dubbed the Dropout Autoencoder LSTM, is capable of synthesizing natural looking motion sequences over long time…

We propose a novel Dirichlet-based P\'olya tree (D-P tree) prior on the copula and based on the D-P tree prior, a nonparametric Bayesian inference procedure. Through theoretical analysis and simulations, we are able to show that the…

Detecting and preventing falls in humans is a critical component of assistive robotic systems. While significant progress has been made in detecting falls, the prediction of falls before they happen, and analysis of the transient state…

We develop a framework for derivative Gaussian process latent variable models (DGP-LVMs) that can handle multi-dimensional output data using modified derivative covariance functions. The modifications account for complexities in the…

This work developed a learning framework for perceptive legged locomotion that combines visual feedback, proprioceptive information, and active gait regulation of foot-ground contacts. The perception requires only one forward-facing camera…

Item response theory (IRT) models typically rely on a normality assumption for subject-specific latent traits, which is often unrealistic in practice. Semiparametric extensions based on Dirichlet process mixtures offer a more flexible…

The Gaussian process latent variable model (GP-LVM) provides a flexible approach for non-linear dimensionality reduction that has been widely applied. However, the current approach for training GP-LVMs is based on maximum likelihood, where…

Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…

Nowadays, the prevalence of sensor networks has enabled tracking of the states of dynamic objects for a wide spectrum of applications from autonomous driving to environmental monitoring and urban planning. However, tracking real-world…

This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two…

This paper develops a simple two-stage variational Bayesian algorithm to estimate panel spatial autoregressive models, where N, the number of cross-sectional units, is much larger than T, the number of time periods without restricting the…

Unbiased, label-free proteomics is becoming a powerful technique for measuring protein expression in almost any biological sample. The output of these measurements after preprocessing is a collection of features and their associated…