相关论文: RoboCSE: Robot Common Sense Embedding

Service robots are envisioned to undertake a wide range of tasks at the request of users. Semantic parsing is one way to convert natural language commands given to these robots into executable representations. Methods for creating semantic…

Real-world robotic applications, from autonomous exploration to assistive technologies, require adaptive, interpretable, and data-efficient learning paradigms. While deep learning architectures and foundation models have driven significant…

Analogy is one of the core capacities of human cognition; when faced with new situations, we often transfer prior experience from other domains. Most work on computational analogy relies heavily on complex, manually crafted input. In this…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

Word embeddings are widely used in Natural Language Processing, mainly due to their success in capturing semantic information from massive corpora. However, their creation process does not allow the different meanings of a word to be…

A significant effort has been made to train neural networks that replicate algorithmic reasoning, but they often fail to learn the abstract concepts underlying these algorithms. This is evidenced by their inability to generalize to data…

Autonomous robots need to be able to adapt to unforeseen situations and to acquire new skills through trial and error. Reinforcement learning in principle offers a suitable methodological framework for this kind of autonomous learning.…

In this work, we investigate how spatially grounded auxiliary representations can provide both broad, high-level grounding as well as direct, actionable information to improve policy learning performance and generalization for dexterous…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

While the exploration for embodied AI has spanned multiple decades, it remains a persistent challenge to endow agents with human-level intelligence, including perception, learning, reasoning, decision-making, control, and generalization…

A robot's ability to provide descriptions of its decisions and beliefs promotes effective collaboration with humans. Providing such transparency is particularly challenging in integrated robot systems that include knowledge-based reasoning…

Concept Bottleneck Models (CBMs) tackle the opacity of neural architectures by constructing and explaining their predictions using a set of high-level concepts. A special property of these models is that they permit concept interventions,…

Embedding tables are used by machine learning systems to work with categorical features. In modern Recommendation Systems, these tables can be very large, necessitating the development of new methods for fitting them in memory, even during…

In meta-learning approaches, it is difficult for a practitioner to make sense of what kind of representations the model employs. Without this ability, it can be difficult to both understand what the model knows as well as to make meaningful…

World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models…

As robots are deployed in complex situations, engineers and end users must develop a holistic understanding of their behaviors, capabilities, and limitations. Some behaviors are directly optimized by the objective function. They often…

Representing words by vectors, or embeddings, enables computational reasoning and is foundational to automating natural language tasks. For example, if word embeddings of similar words contain similar values, word similarity can be readily…

We propose an AdversariaL training algorithm for commonsense InferenCE (ALICE). We apply small perturbations to word embeddings and minimize the resultant adversarial risk to regularize the model. We exploit a novel combination of two…

Deploying AI-powered systems requires trustworthy models supporting effective human interactions, going beyond raw prediction accuracy. Concept bottleneck models promote trustworthiness by conditioning classification tasks on an…

Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Traditional behavior cloning (BC) often fails to generalize…