相关论文: Generating Goal-Directed Visuomotor Plans Based on…

Humans race drones faster than neural networks trained for end-to-end autonomous flight. This may be related to the ability of human pilots to select task-relevant visual information effectively. This work investigates whether neural…

Approaches to goal recognition have progressively relaxed the requirements about the amount of domain knowledge and available observations, yielding accurate and efficient algorithms capable of recognizing goals. However, to recognize goals…

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form…

Learning concepts that are consistent with human perception is important for Deep Neural Networks to win end-user trust. Post-hoc interpretation methods lack transparency in the feature representations learned by the models. This work…

In this study, we investigate how a robot can generate novel and creative actions from its own experience of learning basic actions. Inspired by a machine learning approach to computational creativity, we propose a dynamic neural network…

Engineering design problems often involve large state and action spaces along with highly sparse rewards. Since an exhaustive search of those spaces is not feasible, humans utilize relevant domain knowledge to condense the search space.…

This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from raw-pixel images and without any prior knowledge of…

We present a neural network for predicting purchasing intent in an Ecommerce setting. Our main contribution is to address the significant investment in feature engineering that is usually associated with state-of-the-art methods such as…

The current study examines how adequate coordination among different cognitive processes including visual recognition, attention switching, action preparation and generation can be developed via learning of robots by introducing a novel…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Recent research on automotive driving developed an efficient end-to-end learning mode that directly maps visual input to control commands. However, it models distinct driving variations in a single network, which increases learning…

Robots trained via Reinforcement Learning (RL) or Imitation Learning (IL) often adapt slowly to new tasks, whereas recent Large Language Models (LLMs) and Vision-Language Models (VLMs) promise knowledge-rich planning from minimal data.…

Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…

We propose a novel general method that finds action-grounded, discrete object and effect categories and builds probabilistic rules over them for non-trivial action planning. Our robot interacts with objects using an initial action…

This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…

Goal-conditioned reinforcement learning (GCRL) allows agents to learn diverse objectives using a unified policy. The success of GCRL, however, is contingent on the choice of goal representation. In this work, we propose a mask-based goal…

Goal-conditioned policy learning for robotic manipulation presents significant challenges in maintaining performance across diverse objectives and environments. We introduce Hyper-GoalNet, a framework that generates task-specific policy…

Visual explanation (attention)-guided learning uses not only labels but also explanations to guide model reasoning process. While visual attention-guided learning has shown promising results, it requires a large number of explanation…