相关论文: Learning Plannable Representations with Causal Inf…

Learning high-level causal representations together with a causal model from unstructured low-level data such as pixels is impossible from observational data alone. We prove under mild assumptions that this representation is however…

We tackle the task of scalable unsupervised object-centric representation learning on 3D scenes. Existing approaches to object-centric representation learning show limitations in generalizing to larger scenes as their learning processes…

Generative modeling of anatomical structures plays a crucial role in virtual imaging trials, which allow researchers to perform studies without the costs and constraints inherent to in vivo and phantom studies. For clinical relevance,…

Reasoning about complex visual scenes involves perception of entities and their relations. Scene graphs provide a natural representation for reasoning tasks, by assigning labels to both entities (nodes) and relations (edges). Unfortunately,…

Estimating causal effects from observational data (at either an individual -- or a population -- level) is critical for making many types of decisions. One approach to address this task is to learn decomposed representations of the…

Video-based representations have gained prominence in planning and decision-making due to their ability to encode rich spatiotemporal dynamics and geometric relationships. These representations enable flexible and generalizable solutions…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

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…

Diffusion probabilistic models have achieved enormous success in the field of image generation and manipulation. In this paper, we explore a novel paradigm of using the diffusion model and classifier guidance in the latent semantic space…

We develop a method for generating causal post-hoc explanations of black-box classifiers based on a learned low-dimensional representation of the data. The explanation is causal in the sense that changing learned latent factors produces a…

Using visual model-based learning for deformable object manipulation is challenging due to difficulties in learning plannable visual representations along with complex dynamic models. In this work, we propose a new learning framework that…

In reinforcement learning, we can learn a model of future observations and rewards, and use it to plan the agent's next actions. However, jointly modeling future observations can be computationally expensive or even intractable if the…

We show that goal-directed action planning and generation in a teleological framework can be formulated using the free energy principle. The proposed model, which is built on a variational recurrent neural network model, is characterized by…

A world model enables an intelligent agent to imagine, predict, and reason about how the world evolves in response to its actions, and accordingly to plan and strategize. While recent video generation models produce realistic visual…

Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects.…

Providing a human-understandable explanation of classifiers' decisions has become imperative to generate trust in their use for day-to-day tasks. Although many works have addressed this problem by generating visual explanation maps, they…

This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…

We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…

This work studies the problem of modeling visual processes by leveraging deep generative architectures for learning linear, Gaussian representations from observed sequences. We propose a joint learning framework, combining a vector…

We introduce the GANformer2 model, an iterative object-oriented transformer, explored for the task of generative modeling. The network incorporates strong and explicit structural priors, to reflect the compositional nature of visual scenes,…