相关论文: Causal Learning by a Robot with Semantic-Episodic …

Making sense of incomplete and conflicting narrative knowledge in the presence of abnormalities, unobservable processes, and other real world considerations is a challenge and crucial requirement for cognitive robotics systems. An added…

We consider the problem of learning the functions computing children from parents in a Structural Causal Model once the underlying causal graph has been identified. This is in some sense the second step after causal discovery. Taking a…

Learning from Demonstration~(LfD) should capture not only how a task is executed, but also its high-level task structure that explains the demonstrated behavior. As robots become more autonomous, such task representations must be…

Animals thrive in a constantly changing environment and leverage the temporal structure to learn well-factorized causal representations. In contrast, traditional neural networks suffer from forgetting in changing environments and many…

Deep learning models have made significant progress in automatic program repair. However, the black-box nature of these methods has restricted their practical applications. To address this challenge, this paper presents an interpretable…

In many scenarios, human decisions are explained based on some high-level concepts. In this work, we take a step in the interpretability of neural networks by examining their internal representation or neuron's activations against concepts.…

Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…

Causal reasoning and game-theoretic reasoning are fundamental topics in artificial intelligence, among many other disciplines: this paper is concerned with their intersection. Despite their importance, a formal framework that supports both…

For robots to perform assistive tasks in unstructured home environments, they must learn and reason on the semantic knowledge of the environments. Despite a resurgence in the development of semantic reasoning architectures, these methods…

Inducing causal relationships from observations is a classic problem in machine learning. Most work in causality starts from the premise that the causal variables themselves are observed. However, for AI agents such as robots trying to make…

Capsule networks (see e.g. Hinton et al., 2018) aim to encode knowledge of and reason about the relationship between an object and its parts. In this paper we specify a generative model for such data, and derive a variational algorithm for…

Technologies to predict human actions are extremely important for applications such as human robot cooperation and autonomous driving. However, a majority of the existing algorithms focus on exploiting visual features of the videos and do…

Humans rarely perceive objects in isolation but interpret scenes through relationships among co-occurring elements. How such contextual knowledge is acquired without explicit supervision remains unclear. Here we combine human psychophysics…

Consider the finite state graph that results from a simple, discrete, dynamical system in which an agent moves in a rectangular grid picking up and dropping packages. Can the state variables of the problem, namely, the agent location and…

Reinforcement Learning (RL) faces significant challenges in adaptive healthcare interventions, such as dementia care, where data is scarce, decisions require interpretability, and underlying patient-state dynamic are complex and causal in…

Discovering causal relations is fundamental to reasoning and intelligence. In particular, observational causal discovery algorithms estimate the cause-effect relation between two random entities $X$ and $Y$, given $n$ samples from $P(X,Y)$.…

Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…

A key challenge in reward learning from human input is that desired agent behavior often changes based on context. For example, a robot must adapt to avoid a stove once it becomes hot. We observe that while high-level preferences (e.g.,…

Manipulation tasks require robots to reason about cause and effect when interacting with objects. Yet, many data-driven approaches lack causal semantics and thus only consider correlations. We introduce COBRA-PPM, a novel causal Bayesian…

In this study, we investigate how a robot can generate novel and creative actions from its own experience of learning basic actions. Inspired by a machine learning approach to computational creativity, we propose a dynamic neural network…