相关论文: Joint Perception and Control as Inference with an …

Humans can infer approximate interaction force between objects from only vision information because we already have learned it through experiences. Based on this idea, we propose a recurrent convolutional neural network-based method using…

Humans can fluidly adapt their interest in complex environments in ways that machines cannot. Here, we lay the groundwork for a real-world system that passively monitors and merges neural correlates of visual interest across team members…

Object concepts play a foundational role in human visual cognition, enabling perception, memory, and interaction in the physical world. Inspired by findings in developmental neuroscience - where infants are shown to acquire object…

We propose an adaptation to the training of Vision Transformers (ViTs) that allows for an explicit modeling of objects during the attention computation. This is achieved by adding a new branch to selected attention layers that computes an…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…

A central goal in AI is to represent scenes as compositions of discrete objects, enabling fine-grained, controllable image and video generation. Yet leading diffusion models treat images holistically and rely on text conditioning, creating…

Object-centric (OC) representations, which model visual scenes as compositions of discrete objects, have the potential to be used in various downstream tasks to achieve systematic compositional generalization and facilitate reasoning.…

Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…

The framework of reinforcement learning or optimal control provides a mathematical formalization of intelligent decision making that is powerful and broadly applicable. While the general form of the reinforcement learning problem enables…

We introduce Perceptual-Initialization (PI), a paradigm shift in visual representation learning that incorporates human perceptual structure during the initialization phase rather than as a downstream fine-tuning step. By integrating…

We study the task of establishing object-level visual correspondence across different viewpoints in videos, focusing on the challenging egocentric-to-exocentric and exocentric-to-egocentric scenarios. We propose a simple yet effective…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Implicit Neural Point Cloud (INPC) is a recent hybrid representation that combines the expressiveness of neural fields with the efficiency of point-based rendering, achieving state-of-the-art image quality in novel view synthesis. However,…

Deep Learning (DL) has brought significant advances to robotics vision tasks. However, most existing DL methods have a major shortcoming, they rely on a static inference paradigm inherent in traditional computer vision pipelines. On the…

In this paper, a multi-objective model-following control problem is solved using an observer-based adaptive learning scheme. The overall goal is to regulate the model-following error dynamics along with optimizing the dynamic variables of a…

In this paper, a safe and learning-based control framework for model predictive control (MPC) is proposed to optimize nonlinear systems with a non-differentiable objective function under uncertain environmental disturbances. The control…

Deep Reinforcement Learning has shown significant progress in extracting useful representations from high-dimensional inputs albeit using hand-crafted auxiliary tasks and pseudo rewards. Automatically learning such representations in an…

Tracking by detection, the dominant approach for online multi-object tracking, alternates between localization and association steps. As a result, it strongly depends on the quality of instantaneous observations, often failing when objects…

Object detection in remote sensing imagery remains a challenging task due to extreme scale variation, dense object distributions, and cluttered backgrounds. While recent detectors such as YOLOv8 have shown promising results, their backbone…