相关论文: Visual Semantic Planning using Deep Successor Repr…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…

Encoding models have as their objective to predict neural responses to naturalistic stimuli with the aim of elucidating how sensory information is represented in the brain. This prediction is achieved by representing the stimulus in terms…

Autonomous intelligent agents must bridge computational challenges at disparate levels of abstraction, from the low-level spaces of sensory input and motor commands to the high-level domain of abstract reasoning and planning. A key question…

Intelligent agents working in real-world environments must be able to learn about the environment and its capabilities which enable them to take actions to change to the state of the world to complete a complex multi-step task in a…

Intelligent agents must reason over both continuous dynamics and discrete representations to generate effective plans in complex environments. Previous studies have shown that symbolic abstractions can emerge from neural effect predictors…

We introduce a general framework for visual forecasting, which directly imitates visual sequences without additional supervision. As a result, our model can be applied at several semantic levels and does not require any domain knowledge or…

The interpretation of spatial references is highly contextual, requiring joint inference over both language and the environment. We consider the task of spatial reasoning in a simulated environment, where an agent can act and receive…

This study focuses on Embodied Complex-Question Answering task, which means the embodied robot need to understand human questions with intricate structures and abstract semantics. The core of this task lies in making appropriate plans based…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

Intelligent agents can learn to represent the action spaces of other agents simply by observing them act. Such representations help agents quickly learn to predict the effects of their own actions on the environment and to plan complex…

Diffusion Transformers have demonstrated remarkable capabilities in visual synthesis, yet they often struggle with high-level semantic reasoning and long-horizon planning. This limitation frequently leads to visual hallucinations and…

Imitation learning enables high-fidelity, vision-based learning of policies within rich, photorealistic environments. However, such techniques often rely on traditional discrete-time neural models and face difficulties in generalizing to…

This paper introduces a novel semantics-aware inspection planning policy derived through deep reinforcement learning. Reflecting the fact that within autonomous informative path planning missions in unknown environments, it is often only a…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Learning to solve long horizon temporally extended tasks with reinforcement learning has been a challenge for several years now. We believe that it is important to leverage both the hierarchical structure of complex tasks and to use expert…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

Animal vision is thought to optimize various objectives from metabolic efficiency to discrimination performance, yet its ultimate objective is to facilitate the survival of the animal within its ecological niche. However, modeling animal…

Broadly intelligent agents should form task-specific abstractions that selectively expose the essential elements of a task, while abstracting away the complexity of the raw sensorimotor space. In this work, we present Neuro-Symbolic…