相关论文: Deep Episodic Memory: Encoding, Recalling, and Pre…

Recently, neuro-inspired episodic control (EC) methods have been developed to overcome the data-inefficiency of standard deep reinforcement learning approaches. Using non-/semi-parametric models to estimate the value function, they learn…

State of the art deep reinforcement learning algorithms take many millions of interactions to attain human-level performance. Humans, on the other hand, can very quickly exploit highly rewarding nuances of an environment upon first…

Understanding how the brain responds to sensory inputs is challenging: brain recordings are partial, noisy, and high dimensional; they vary across sessions and subjects and they capture highly nonlinear dynamics. These challenges have led…

Efficiently modeling spatial-temporal information in videos is crucial for action recognition. To achieve this goal, state-of-the-art methods typically employ the convolution operator and the dense interaction modules such as non-local…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

We propose a general way to integrate procedural knowledge of a domain into deep learning models. We apply it to the case of video prediction, building on top of object-centric deep models and show that this leads to a better performance…

The ability to simulate the effects of future actions on the world is a crucial ability of intelligent embodied agents, enabling agents to anticipate the effects of their actions and make plans accordingly. While a large body of existing…

While great strides have been made in using deep learning algorithms to solve supervised learning tasks, the problem of unsupervised learning - leveraging unlabeled examples to learn about the structure of a domain - remains a difficult…

The demands on visual recognition systems do not end with the complexity offered by current large-scale image datasets, such as ImageNet. In consequence, we need curious and continuously learning algorithms that actively acquire knowledge…

Event camera is an asynchronous, high frequency vision sensor with low power consumption, which is suitable for human action understanding task. It is vital to encode the spatial-temporal information of event data properly and use standard…

Deep neural networks are widely used for classification. These deep models often suffer from a lack of interpretability -- they are particularly difficult to understand because of their non-linear nature. As a result, neural networks are…

Can artificial intelligence unlock the secrets of the human brain? How do the inner mechanisms of deep learning models relate to our neural circuits? Is it possible to enhance AI by tapping into the power of brain recordings? These…

In this paper, we propose using deep neural architectures (i.e., vision transformers and ResNet) as heuristics for sequential decision-making in robotic manipulation problems. This formulation enables predicting the subset of objects that…

We introduce a lifelong language learning setup where a model needs to learn from a stream of text examples without any dataset identifier. We propose an episodic memory model that performs sparse experience replay and local adaptation to…

Recently, a number of learning-based models have been proposed for multi-robot navigation. However, these models lack memory and only rely on the current observations of the robot to plan their actions. They are unable to leverage past…

Storing knowledge of an agent's environment in the form of a probabilistic generative model has been established as a crucial ingredient in a multitude of cognitive tasks. Perception has been formalised as probabilistic inference over the…

One key aspect of spatially aware robots is the ability to "find their bearings", ie. to correctly situate themselves in previously seen spaces. In this work, we focus on this particular scenario of continuous robotics operations, where…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

Deep imitation learning is a promising approach that does not require hard-coded control rules in autonomous robot manipulation. The current applications of deep imitation learning to robot manipulation have been limited to reactive control…