相关论文: Context Reasoning in Underwater Robots Using MEBN

During the past quarter-century, situation awareness (SAW) has become a critical research theme, because of its importance. Since the concept of SAW was first introduced during World War I, various versions of SAW have been researched and…

We present a context classification pipeline to allow a robot to change its navigation strategy based on the observed social scenario. Socially-Aware Navigation considers social behavior in order to improve navigation around people. Most of…

This paper considers the problem of knowledge-based model construction in the presence of uncertainty about the association of domain entities to random variables. Multi-entity Bayesian networks (MEBNs) are defined as a representation for…

Metareasoning, a branch of AI, focuses on reasoning about reasons. It has the potential to enhance robots' decision-making processes in unexpected situations. However, the concept has largely been confined to theoretical discussions and…

Real-world robots often operate in settings where objective priorities depend on the underlying context of operation. When the underlying context is unknown apriori, multiple robots may have to coordinate to gather informative observations…

Navigating robots through unstructured terrains is challenging, primarily due to the dynamic environmental changes. While humans adeptly navigate such terrains by using context from their observations, creating a similar context-aware…

Probabilistic context free grammars (PCFG) have been the core of the probabilistic reasoning based parsers for several years especially in the context of the NLP. Multi entity bayesian networks (MEBN) a First Order Logic probabilistic…

Multi-context model learning is crucial for marine robotics where several factors can cause disturbances to the system's dynamics. This work addresses the problem of identifying multiple contexts of an AUV model. We build a simulation model…

We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…

Robot social navigation needs to adapt to different human factors and environmental contexts. However, since these factors and contexts are difficult to predict and cannot be exhaustively enumerated, traditional learning-based methods have…

We propose a principle for exploring context in machine learning models. Starting with a simple assumption that each observation may or may not depend on its context, a conditional probability distribution is decomposed into two parts:…

Manipulation tasks require robots to reason about cause and effect when interacting with objects. Yet, many data-driven approaches lack causal semantics and thus only consider correlations. We introduce COBRA-PPM, a novel causal Bayesian…

Semantic navigation is the navigation paradigm in which environmental semantic concepts and their relationships are taken into account to plan the route of a mobile robot. This paradigm facilitates the interaction with humans and the…

This paper studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how coherent sets, an environmental feature found in these…

Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…

We address the challenge of sequential data-driven decision-making under context distributional uncertainty. This problem arises in numerous real-world scenarios where the learner optimizes black-box objective functions in the presence of…

Machine comprehension(MC) style question answering is a representative problem in natural language processing. Previous methods rarely spend time on the improvement of encoding layer, especially the embedding of syntactic information and…

In recent years, the world has witnessed various primitives pertaining to the complexity of human behavior. Identifying an event in the presence of insufficient, incomplete, or tentative premises along with the constraints on resources such…

Applying machine learning algorithms to large-scale, text-based corpora (embeddings) presents a unique opportunity to investigate at scale how human semantic knowledge is organized and how people use it to judge fundamental relationships,…

Controlling a robot based on physics-consistent dynamic models, such as Deep Lagrangian Networks (DeLaN), can improve the generalizability and interpretability of the resulting behavior. However, in complex environments, the number of…