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

World models require robust relational understanding to support prediction, reasoning, and control. While object-centric representations provide a useful abstraction, they are not sufficient to capture interaction-dependent dynamics. We…

Human-object interaction (HOI) detection is an important part of understanding human activities and visual scenes. The long-tailed distribution of labeled instances is a primary challenge in HOI detection, promoting research in few-shot and…

Object detection methods under known single degradations have been extensively investigated. However, existing approaches require prior knowledge of the degradation type and train a separate model for each, limiting their practical…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

Object-centric representation learning aims to decompose visual scenes into fixed-size vectors called "slots" or "object files", where each slot captures a distinct object. Current state-of-the-art object-centric models have shown…

Unlike most previous HOI methods that focus on learning better human-object features, we propose a novel and complementary approach called category query learning. Such queries are explicitly associated to interaction categories, converted…

Although data generation is often straightforward, extracting information from data is more difficult. Object-centric representation learning can extract information from images in an unsupervised manner. It does so by segmenting an image…

Generalised Bayesian Inference (GBI) attempts to address model misspecification in a standard Bayesian setup by tempering the likelihood. The likelihood is raised to a fractional power, called the learning rate, which reduces its importance…

Learning modular object-centric representations is crucial for systematic generalization. Existing methods show promising object-binding capabilities empirically, but theoretical identifiability guarantees remain relatively underdeveloped.…

Collaborative perception (CP) enables multiple vehicles to augment their individual perception capacities through the exchange of feature-level sensory data. However, this fusion mechanism is inherently vulnerable to adversarial attacks,…

Collaborative perception enables vehicles to overcome individual perception limitations by sharing information, allowing them to see further and through occlusions. In real-world scenarios, models on different vehicles are often…

We propose the conditional predictive impact (CPI), a consistent and unbiased estimator of the association between one or several features and a given outcome, conditional on a reduced feature set. Building on the knockoff framework of…

As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essential for robust performance. In this paper we present a…

The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…

Prediction-powered inference (PPI) is a method that improves statistical estimates based on limited human-labeled data. Specifically, PPI methods provide tighter confidence intervals by combining small amounts of human-labeled data with…

Building models of the world from observation, i.e., induction, is one of the major challenges in machine learning. In order to be useful, models need to maintain accuracy when used in novel situations, i.e., generalize. In addition, they…

We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces. This provides one way of leveraging and combining the advantages of…

In human cognition, the expansion of perceived between-category distances and compression of within-category distances is known as categorical perception (CP). There are several hypotheses about the causes of CP (e.g., language, learning,…

One-class classification (OCC) is a longstanding method for anomaly detection. With the powerful representation capability of the pre-trained backbone, OCC methods have witnessed significant performance improvements. Typically, most of…

We propose a Model Predictive Control (MPC) method for collision-free navigation that uses amortized variational inference to approximate the distribution of optimal control sequences by training a normalizing flow conditioned on the start,…