相关论文: Incremental learning of environment interactive st…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

We present an active detection model for localizing objects in scenes. The model is class-specific and allows an agent to focus attention on candidate regions for identifying the correct location of a target object. This agent learns to…

This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…

Learning to detect, characterize and accommodate novelties is a challenge that agents operating in open-world domains need to address to be able to guarantee satisfactory task performance. Certain novelties (e.g., changes in environment…

Learning by observation can be of key importance whenever agents sharing similar features want to learn from each other. This paper presents an agent architecture that enables software agents to learn by direct observation of the actions…

Neural nets are powerful function approximators, but the behavior of a given neural net, once trained, cannot be easily modified. We wish, however, for people to be able to influence neural agents' actions despite the agents never training…

Humans are interactive agents driven to seek out situations with interesting physical dynamics. Here we formalize the functional form of physical intrinsic motivation. We first collect ratings of how interesting humans find a variety of…

Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of…

Using visual model-based learning for deformable object manipulation is challenging due to difficulties in learning plannable visual representations along with complex dynamic models. In this work, we propose a new learning framework that…

Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that…

We consider a learning agent in a partially observable environment, with which the agent has never interacted before, and about which it learns both what it can observe and how its actions affect the environment. The agent can learn about…

In this paper, we study the challenging problem of predicting the dynamics of objects in static images. Given a query object in an image, our goal is to provide a physical understanding of the object in terms of the forces acting upon it…

We present a method that learns to integrate temporal information, from a learned dynamics model, with ambiguous visual information, from a learned vision model, in the context of interacting agents. Our method is based on a…

In order to explore and act autonomously in an environment, an agent needs to learn from the sensorimotor information that is captured while acting. By extracting the regularities in this sensorimotor stream, it can learn a model of the…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

Common-sense physical reasoning is an essential ingredient for any intelligent agent operating in the real-world. For example, it can be used to simulate the environment, or to infer the state of parts of the world that are currently…

The influence of atmospheric turbulence on acquired surveillance imagery poses significant challenges in image interpretation and scene analysis. Conventional approaches for target classification and tracking are less effective under such…

A coupled computational approach to simultaneously learn a vector field and the region of attraction of an equilibrium point from generated trajectories of the system is proposed. The nonlinear identification leverages the local stability…

State estimation of oncoming vehicles: Earlier research has been based on determining states like position, velocity, orientation , angular velocity, etc of ego-vehicle. Our approach focuses on estimating the states of non-ego vehicles…

Accurate prediction of pedestrian trajectories is crucial for enhancing the safety of autonomous vehicles and reducing traffic fatalities involving pedestrians. While numerous studies have focused on modeling interactions among pedestrians…