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

Being able to infer the goal of people we observe, interact with, or read stories about is one of the hallmarks of human intelligence. A prominent idea in current goal-recognition research is to infer the likelihood of an agent's goal from…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Understanding physical phenomena is a key component of human intelligence and enables physical interaction with previously unseen environments. In this paper, we study how an artificial agent can autonomously acquire this intuition through…

Humans can easily reason about the sequence of high level actions needed to complete tasks, but it is particularly difficult to instil this ability in robots trained from relatively few examples. This work considers the task of neural…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

Visual storytelling aims to generate compelling narratives from image sequences. Existing models often focus on enhancing the representation of the image sequence, e.g., with external knowledge sources or advanced graph structures. Despite…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Visual Planning for Assistance (VPA) aims to predict a sequence of user actions required to achieve a specified goal based on a video showing the user's progress. Although recent advances in multimodal large language models (MLLMs) have…

Representation learning is a central challenge across a range of machine learning areas. In reinforcement learning, effective and functional representations have the potential to tremendously accelerate learning progress and solve more…

Modern video understanding systems excel at tasks such as scene classification, object detection, and short video retrieval. However, as video analysis becomes increasingly central to real-world applications, there is a growing need for…

Visual representation learning is ubiquitous in various real-world applications, including visual comprehension, video understanding, multi-modal analysis, human-computer interaction, and urban computing. Due to the emergence of huge…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Temporal prediction is critical for making intelligent and robust decisions in complex dynamic environments. Motion prediction needs to model the inherently uncertain future which often contains multiple potential outcomes, due to…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

We present a hierarchical neuro-symbolic control framework that tightly couples a classical symbolic planner with a transformer-based policy to address long-horizon decision-making under uncertainty. At the high level, the planner assembles…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

In the sequential decision making setting, an agent aims to achieve systematic generalization over a large, possibly infinite, set of environments. Such environments are modeled as discrete Markov decision processes with both states and…

Self-supervised representation learning targets to learn convnet-based image representations from unlabeled data. Inspired by the success of NLP methods in this area, in this work we propose a self-supervised approach based on spatially…

Efficient attention deployment in visual search is limited by human visual memory, yet this limitation can be offset by exploiting the environment's structure. This paper introduces a computational cognitive model that simulates how the…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…