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

We present a data-efficient framework for solving visuomotor sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. Our framework trains deep visuomotor…

Computational models of vision have traditionally been developed in a bottom-up fashion, by hierarchically composing a series of straightforward operations - i.e. convolution and pooling - with the aim of emulating simple and complex cells…

In this work we propose a goal reasoning method which learns to select subgoals with Deep Q-Learning in order to decrease the load of a planner when faced with scenarios with tight time restrictions, such as online execution systems. We…

Causal reasoning has been an indispensable capability for humans and other intelligent animals to interact with the physical world. In this work, we propose to endow an artificial agent with the capability of causal reasoning for completing…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

While recent progress in deep reinforcement learning has enabled robots to learn complex behaviors, tasks with long horizons and sparse rewards remain an ongoing challenge. In this work, we propose an effective reward shaping method through…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

We study the intriguing connection between visual data, deep networks, and the brain. Our method creates a universal channel alignment by using brain voxel fMRI response prediction as the training objective. We discover that deep networks,…

The advent of large pre-trained generative language models has provided a common framework for AI story generation via sampling the model to create sequences that continue the story. However, sampling alone is insufficient for story…

Deep learning-based models, such as recurrent neural networks (RNNs), have been applied to various sequence learning tasks with great success. Following this, these models are increasingly replacing classic approaches in object tracking…

Our aim is to learn to solve long-horizon decision-making problems in complex robotics domains given low-level skills and a handful of short-horizon demonstrations containing sequences of images. To this end, we focus on learning abstract…

Automatically detecting and recovering from failures is an important but challenging problem for autonomous robots. Most of the recent work on learning to plan from demonstrations lacks the ability to detect and recover from errors in the…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…

Associative memories in the brain receive and store patterns of activity registered by the sensory neurons, and are able to retrieve them when necessary. Due to their importance in human intelligence, computational models of associative…

Humans construct internal cognitive maps of their environment directly from sensory inputs without access to a system of explicit coordinates or distance measurements. While machine learning algorithms like SLAM utilize specialized visual…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used for leveraging precomputation and dealing with difficult…

Computing goal-directed behavior is essential to designing efficient AI systems. Due to the computational complexity of planning, current approaches rely primarily upon hand-coded symbolic action models and hand-coded heuristic-function…

Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen scenes, we develop an approach for learning visual…