相关论文: Learning a Multi-Modal Policy via Imitating Demons…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

In this paper, we describe a novel approach to imitation learning that infers latent policies directly from state observations. We introduce a method that characterizes the causal effects of latent actions on observations while…

Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…

We aim to separate the generative factors of data into two latent vectors in a variational autoencoder. One vector captures class factors relevant to target classification tasks, while the other vector captures style factors relevant to the…

While recent neural encoder-decoder models have shown great promise in modeling open-domain conversations, they often generate dull and generic responses. Unlike past work that has focused on diversifying the output of the decoder at…

We present a unified framework for studying the identifiability of representations learned from simultaneously observed views, such as different data modalities. We allow a partially observed setting in which each view constitutes a…

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…

Multi-modal Multi-label Emotion Recognition (MMER) aims to identify various human emotions from heterogeneous visual, audio and text modalities. Previous methods mainly focus on projecting multiple modalities into a common latent space and…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

We deal with the problem of learning the underlying disentangled latent factors that are shared between the paired bi-modal data in cross-modal retrieval. Our assumption is that the data in both modalities are complex, structured, and high…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

Accurately predicting the future motion of surrounding vehicles requires reasoning about the inherent uncertainty in driving behavior. This uncertainty can be loosely decoupled into lateral (e.g., keeping lane, turning) and longitudinal…

We present a unified probabilistic model that learns a representative set of discrete vehicle actions and predicts the probability of each action given a particular scenario. Our model also enables us to estimate the distribution over…

Autonomous driving presents a complex challenge, which is usually addressed with artificial intelligence models that are end-to-end or modular in nature. Within the landscape of modular approaches, a bio-inspired neural circuit policy model…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Learning from multimodal data is an important research topic in machine learning, which has the potential to obtain better representations. In this work, we propose a novel approach to generative modeling of multimodal data based on…

A fundamental challenge in multiagent reinforcement learning is to learn beneficial behaviors in a shared environment with other simultaneously learning agents. In particular, each agent perceives the environment as effectively…

In this paper, we address the problem of conditional modality learning, whereby one is interested in generating one modality given the other. While it is straightforward to learn a joint distribution over multiple modalities using a deep…

Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in this work, also adapting the perception modules. An analogical…