相关论文: Learning Latent Dynamics for Planning from Pixels

We propose a method for learning dynamical systems from high-dimensional empirical data that combines variational autoencoders and (spatio-)temporal attention within a framework designed to enforce certain scientifically-motivated…

Understanding the learning dynamics of neural networks is one of the key issues for the improvement of optimization algorithms as well as for the theoretical comprehension of why deep neural nets work so well today. In this paper, we…

Forecasting complex system dynamics, particularly for long-term predictions, is persistently hindered by error accumulation and computational burdens. This study presents RefreshNet, a multiscale framework developed to overcome these…

This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks to learn general near-optimal heuristics for path planning in…

A key challenge for autonomous driving is safe trajectory planning in cluttered, urban environments with dynamic obstacles, such as pedestrians, bicyclists, and other vehicles. A reliable prediction of the future environment, including the…

Planning is a powerful approach to reinforcement learning with several desirable properties. However, it requires a model of the world, which is not readily available in many real-life problems. In this paper, we propose to learn a world…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…

We propose a planning and perception mechanism for a robot (agent), that can only observe the underlying environment partially, in order to solve an image classification problem. A three-layer architecture is suggested that consists of a…

We present a data-driven modeling strategy to overcome improperly modeled dynamics for systems exhibiting complex spatio-temporal behaviors. We propose a Deep Learning framework to resolve the differences between the true dynamics of the…

The robotic systems continuously interact with complex dynamical systems in the physical world. Reliable predictions of spatiotemporal evolution of these dynamical systems, with limited knowledge of system dynamics, are crucial for…

We propose an approach to learning agents for active robotic mapping, where the goal is to map the environment as quickly as possible. The agent learns to map efficiently in simulated environments by receiving rewards corresponding to how…

To accurately predict future positions of different agents in traffic scenarios is crucial for safely deploying intelligent autonomous systems in the real-world environment. However, it remains a challenge due to the behavior of a target…

Deeply-learned planning methods are often based on learning representations that are optimized for unrelated tasks. For example, they might be trained on reconstructing the environment. These representations are then combined with predictor…

Building deep reinforcement learning agents that can generalize and adapt to unseen environments remains a fundamental challenge for AI. This paper describes progresses on this challenge in the context of man-made environments, which are…

In the present paper, we propose an extension of the Deep Planning Network (PlaNet), also referred to as PlaNet of the Bayesians (PlaNet-Bayes). There has been a growing demand in model predictive control (MPC) in partially observable…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

Manipulating deformable objects is a ubiquitous task in household environments, demanding adequate representation and accurate dynamics prediction due to the objects' infinite degrees of freedom. This work proposes DeformNet, which utilizes…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Efficient planning in high-dimensional spaces, such as those involving deformable objects, requires computationally tractable yet sufficiently expressive dynamics models. This paper introduces a method that automatically generates…