相关论文: Context Reasoning in Underwater Robots Using MEBN

Vision-based underwater robots can be useful in inspecting and exploring confined spaces where traditional sensors and preplanned paths cannot be followed. Sensor noise and situational change can cause significant uncertainty in…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

Autonomous robots operating in complex, unstructured environments face significant challenges due to latent, unobserved factors that obscure their understanding of both their internal state and the external world. Addressing this challenge…

The demand for reliable AI systems has intensified the need for interpretable deep neural networks. Concept bottleneck models (CBMs) have gained attention as an effective approach by leveraging human-understandable concepts to enhance…

Context-aware machine translation models are designed to leverage contextual information, but often fail to do so. As a result, they inaccurately disambiguate pronouns and polysemous words that require context for resolution. In this paper,…

Deep learning approaches have recently been extensively explored for the prognostics of industrial assets. However, they still suffer from a lack of interpretability, which hinders their adoption in safety-critical applications. To improve…

In this paper, we applied a novel learning algorithm, namely, Deep Belief Networks (DBN) to word sense disambiguation (WSD). DBN is a probabilistic generative model composed of multiple layers of hidden units. DBN uses Restricted Boltzmann…

Autonomous control systems face significant challenges in performing complex tasks in the presence of latent risks. To address this, we propose an integrated framework that combines Large Language Models (LLMs), numerical optimization, and…

Automating the annotation of benthic imagery (i.e., images of the seafloor and its associated organisms, habitats, and geological features) is critical for monitoring rapidly changing ocean ecosystems. Deep learning approaches have…

Causal modelling offers great potential to provide autonomous agents the ability to understand the data-generation process that governs their interactions with the world. Such models capture formal knowledge as well as probabilistic…

We introduce Meta-Reasoning Prompting (MRP), a novel and efficient system prompting method for large language models (LLMs) inspired by human meta-reasoning. Traditional in-context learning-based reasoning techniques, such as…

Liquids are an important part of many common manipulation tasks in human environments. If we wish to have robots that can accomplish these types of tasks, they must be able to interact with liquids in an intelligent manner. In this paper,…

Emotion recognition plays a crucial role in various domains of human-robot interaction. In long-term interactions with humans, robots need to respond continuously and accurately, however, the mainstream emotion recognition methods mostly…

This paper considers the challenges Large Language Models (LLMs) face when reasoning over text that includes information involving uncertainty explicitly quantified via probability values. This type of reasoning is relevant to a variety of…

A framework is presented for a computational theory of probabilistic argument. The Probabilistic Reasoning Environment encodes knowledge at three levels. At the deepest level are a set of schemata encoding the system's domain knowledge.…

This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A…

This work focuses on improving uncertainty estimation in the field of object classification from RGB images and demonstrates its benefits in two robotic applications. We employ a (BNN), and evaluate two practical inference techniques to…

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…

Two lines of work are taking the central stage in AI research. On the one hand, the community is making increasing efforts to build models that discard spurious correlations and generalize better in novel test environments. Unfortunately,…

Robots in human-centered environments require accurate scene understanding to perform high-level tasks effectively. This understanding can be achieved through instance-aware semantic mapping, which involves reconstructing elements at the…