相关论文: Human Action Forecasting by Learning Task Grammars

Abnormal event detection in videos is a challenging problem, partly due to the multiplicity of abnormal patterns and the lack of their corresponding annotations. In this paper, we propose new constrained pretext tasks to learn object level…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

In Automatic Speech Recognition it is still challenging to learn useful intermediate representations when using high-level (or abstract) target units such as words. For that reason, character or phoneme based systems tend to outperform…

In this work we employ multitask learning to capitalize on the structure that exists in related supervised tasks to train complex neural networks. It allows training a network for multiple objectives in parallel, in order to improve…

Humans can learn several tasks in succession with minimal mutual interference but perform more poorly when trained on multiple tasks at once. The opposite is true for standard deep neural networks. Here, we propose novel computational…

We introduce a gradient-based approach for learning task graphs from procedural activities, improving over hand-crafted methods. Our method directly optimizes edge weights via maximum likelihood, enabling integration into neural…

We develop task scaling laws and model ladders to predict the individual task performance of pretrained language models (LMs) in the overtrained setting. Standard power laws for language modeling loss cannot accurately model task…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…

Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an…

Complex, multi-task problems have proven to be difficult to solve efficiently in a sparse-reward reinforcement learning setting. In order to be sample efficient, multi-task learning requires reuse and sharing of low-level policies. To…

Understanding the structure of multiple related tasks allows for multi-task learning to improve the generalisation ability of one or all of them. However, it usually requires training each pairwise combination of tasks together in order to…

Humans can pursue a near-infinite variety of tasks, but typically can only pursue a small number at the same time. We hypothesize that humans leverage experience on one task to preemptively learn solutions to other tasks that were…

Lower limb amputations and neuromuscular impairments severely restrict mobility, necessitating advancements beyond conventional prosthetics. While motorized bionic limbs show promise, their effectiveness depends on replicating the dynamic…

In order for robots to operate effectively in homes and workplaces, they must be able to manipulate the articulated objects common within environments built for and by humans. Previous work learns kinematic models that prescribe this…

As robots are becoming more and more ubiquitous in human environments, it will be necessary for robotic systems to better understand and predict human actions. However, this is not an easy task, at times not even for us humans, but based on…

Action recognition and human pose estimation are closely related but both problems are generally handled as distinct tasks in the literature. In this work, we propose a multitask framework for jointly 2D and 3D pose estimation from still…

Collaborative robotic systems will be a key enabling technology for current and future industrial applications. The main aspect of such applications is to guarantee safety for humans. To detect hazardous situations, current commercially…

Predicting future motion trajectories is a critical capability across domains such as robotics, autonomous systems, and human activity forecasting, enabling safer and more intelligent decision-making. This paper proposes a novel, efficient,…

In learning-to-learn the goal is to infer a learning algorithm that works well on a class of tasks sampled from an unknown meta distribution. In contrast to previous work on batch learning-to-learn, we consider a scenario where tasks are…