相关论文: Dynamics Estimation Using Recurrent Neural Network

Neural networks have become a widely adopted tool for modeling nonlinear dynamical systems from data. However, the choice of training strategy remains a key design decision, particularly for simulation tasks. This paper compares two…

Anticipating the future actions of a human is a widely studied problem in robotics that requires spatio-temporal reasoning. In this work we propose a deep learning approach for anticipation in sensory-rich robotics applications. We…

Self-driving vehicles plan around both static and dynamic objects, applying predictive models of behavior to estimate future locations of the objects in the environment. However, future behavior is inherently uncertain, and models of motion…

Recurrent neural network architectures can have useful computational properties, with complex temporal dynamics and input-sensitive attractor states. However, evaluation of recurrent dynamic architectures requires solution of systems of…

Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…

We propose incremental (re)training of a neural network model to cope with a continuous flow of new data in inference during model serving. As such, this is a life-long learning process. We address two challenges of life-long retraining:…

A popular strategy to train recurrent neural networks (RNNs), known as ``teacher forcing'' takes the ground truth as input at each time step and makes the later predictions partly conditioned on those inputs. Such training strategy impairs…

There have been several attempts at modeling context in robots. However, either these attempts assume a fixed number of contexts or use a rule-based approach to determine when to increment the number of contexts. In this paper, we pose the…

Predictive coding networks are neural models that perform inference through an iterative energy minimization process, whose operations are local in space and time. While effective in shallow architectures, they suffer significant…

Neural networks and in particular the attention mechanism have brought significant advances to the field of Automated Essay Scoring. Many of these systems use a regression-based model which may be prone to underfitting when the model only…

To support humans in their daily lives, robots are required to autonomously learn, adapt to objects and environments, and perform the appropriate actions. We tackled on the task of cooking scrambled eggs using real ingredients, in which the…

Ensemble weather predictions require statistical post-processing of systematic errors to obtain reliable and accurate probabilistic forecasts. Traditionally, this is accomplished with distributional regression models in which the parameters…

An iterated multistep forecasting scheme based on recurrent neural networks (RNN) is proposed for the time series generated by causal chains with infinite memory. This forecasting strategy contains, as a particular case, the iterative…

Probabilistic representations of movement primitives open important new possibilities for machine learning in robotics. These representations are able to capture the variability of the demonstrations from a teacher as a probability…

Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that…

In recent years, there have been a surge in applications of neural networks (NNs) in physical sciences. Although various algorithmic advances have been proposed, there are, thus far, limited number of studies that assess the…

We investigate an experiential learning paradigm for acquiring an internal model of intuitive physics. Our model is evaluated on a real-world robotic manipulation task that requires displacing objects to target locations by poking. The…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Despite the power of deep neural networks for a wide range of tasks, an overconfident prediction issue has limited their practical use in many safety-critical applications. Many recent works have been proposed to mitigate this issue, but…

This paper presents the recurrent estimation of distributions (RED) for modeling real-valued data in a semiparametric fashion. RED models make two novel uses of recurrent neural networks (RNNs) for density estimation of general real-valued…