相关论文: Learning to Segment and Represent Motion Primitive…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

Human perception is structured around objects which form the basis for our higher-level cognition and impressive systematic generalization abilities. Yet most work on representation learning focuses on feature learning without even…

Placing robots outside controlled conditions requires versatile movement representations that allow robots to learn new tasks and adapt them to environmental changes. The introduction of obstacles or the placement of additional robots in…

Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…

This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…

In order to plan a safe maneuver an autonomous vehicle must accurately perceive its environment, and understand the interactions among traffic participants. In this paper, we aim to learn scene-consistent motion forecasts of complex urban…

Detecting and segmenting individual objects, regardless of their category, is crucial for many applications such as action detection or robotic interaction. While this problem has been well-studied under the classic formulation of…

Generating multi-vehicle interaction scenarios can benefit motion planning and decision making of autonomous vehicles when on-road data is insufficient. This paper presents an efficient approach to generate varied multi-vehicle interaction…

We apply a generative segmental model of task structure, guided by narration, to action segmentation in video. We focus on unsupervised and weakly-supervised settings where no action labels are known during training. Despite its simplicity,…

Semantic image segmentation is an important computer vision task that is difficult because it consists of both recognition and segmentation. The task is often cast as a structured output problem on an exponentially large output-space, which…

Discovering symbolic representations for skills is essential for abstract reasoning and efficient planning in robotics. Previous neuro-symbolic robotic studies mostly focused on discovering perceptual symbolic categories given a pre-defined…

This paper introduces a representative-based approach for distributed learning that transforms multiple raw data points into a virtual representation. Unlike traditional distributed learning methods such as Federated Learning, which do not…

During the past few years, probabilistic approaches to imitation learning have earned a relevant place in the literature. One of their most prominent features, in addition to extracting a mean trajectory from task demonstrations, is that…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…

Supervised image segmentation assigns image voxels to a set of labels, as defined by a specific labeling protocol. In this paper, we decompose segmentation into two steps. The first step is what we call "primitive segmentation", where…

Trajectory planning for autonomous cars can be addressed by primitive-based methods, which encode nonlinear dynamical system behavior into automata. In this paper, we focus on optimal trajectory planning. Since, typically, multiple criteria…

Predicting human motion in unstructured and dynamic environments is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose to encode…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

Introducing explicit constraints on the structural predictions has been an effective way to improve the performance of semantic segmentation models. Existing methods are mainly based on insufficient hand-crafted rules that only partially…