相关论文: Learning to Act Properly: Predicting and Explainin…

Affordance detection from visual input is a fundamental step in autonomous robotic manipulation. Existing solutions to the problem of affordance detection rely on convolutional neural networks. However, these networks do not consider the…

Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for…

While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…

Visualization design influences how people perceive data patterns, yet most research focuses on low-level analytic tasks, such as finding correlations. The extent to which these perceptual affordances translate to high-level decision-making…

Affordance grounding-localizing object regions based on natural language descriptions of interactions-is a critical challenge for enabling intelligent agents to understand and interact with their environments. However, this task remains…

Affordance grounding requires identifying where and how an agent should interact in open-world scenes, where actionable regions are often small, occluded, reflective, and visually ambiguous. Recent systems therefore combine multiple skills…

First-person video naturally brings the use of a physical environment to the forefront, since it shows the camera wearer interacting fluidly in a space based on his intentions. However, current methods largely separate the observed actions…

Methods for learning optimal policies in autonomous agents often assume that the way the domain is conceptualised---its possible states and actions and their causal structure---is known in advance and does not change during learning. This…

Reinforcement Learning (RL) aims at learning an optimal behavior policy from its own experiments and not rule-based control methods. However, there is no RL algorithm yet capable of handling a task as difficult as urban driving. We present…

Multi-agent interactions, such as communication, teaching, and bluffing, often rely on higher-order social inference, i.e., understanding how others infer oneself. Such intricate reasoning can be effectively modeled through nested…

In many machine learning applications, there are multiple decision-makers involved, both automated and human. The interaction between these agents often goes unaddressed in algorithmic development. In this work, we explore a simple version…

This paper considers neural representation through the lens of active inference, a normative framework for understanding brain function. It delves into how living organisms employ generative models to minimize the discrepancy between…

3D Object Affordance Grounding aims to predict the functional regions on a 3D object and has laid the foundation for a wide range of applications in robotics. Recent advances tackle this problem via learning a mapping between 3D regions and…

Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…

Active inference helps us simulate adaptive behavior and decision-making in biological and artificial agents. Building on our previous work exploring the relationship between active inference, well-being, resilience, and sustainability, we…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

In this paper, we propose a novel affordance model, which combines object, action, and effect information in the latent space of a predictive neural network architecture that is built on Conditional Neural Processes. Our model allows us to…

Situationally-aware artificial agents operating with competence in natural environments face several challenges: spatial awareness, object affordance detection, dynamic changes and unpredictability. A critical challenge is the agent's…

We consider the problem of third-person imitation learning with the additional challenge that the learner must select the perspective from which they observe the expert. In our setting, each perspective provides only limited information…

This paper proposes a new way to model behavioral agents in dynamic macro-financial environments. Agents are described as neural networks and learn policies from idiosyncratic past experiences. I investigate the feedback between…