相关论文: Prediction and Generalisation over Directed Action…

Behavioral flexibility is learning from previous experiences and planning appropriate actions in a changing or novel environment. Successful behavioral adaptation depends on internal models the brain builds to represent the relational…

This paper deals with differentiable dynamical models congruent with neural process theories that cast brain function as the hierarchical refinement of an internal generative model explaining observations. Our work extends existing…

It is crucial to ask how agents can achieve goals by generating action plans using only partial models of the world acquired through habituated sensory-motor experiences. Although many existing robotics studies use a forward model…

Motion prediction, recently popularized as world models, refers to the anticipation of future agent states or scene evolution, which is rooted in human cognition, bridging perception and decision-making. It enables intelligent systems, such…

To afford flexible behaviour, the brain must build internal representations that mirror the structure of variables in the external world. For example, 2D space obeys rules: the same set of actions combine in the same way everywhere (step…

What is the difference between goal-directed and habitual behavior? We propose a novel computational framework of decision making with Bayesian inference, in which everything is integrated as an entire neural network model. The model learns…

We propose and demonstrate a framework called perception as prediction for autonomous driving that uses general value functions (GVFs) to learn predictions. Perception as prediction learns data-driven predictions relating to the impact of…

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is…

Accurate prediction of driving scene is a challenging task due to uncertainty in sensor data, the complex behaviors of agents, and the possibility of multiple feasible futures. Existing prediction methods using occupancy grid maps primarily…

The grid firing patterns are thought to provide an efficient intrinsic metric capable of supporting universal spatial metric for mammalian spatial navigation in all environments. However, whether spatial representations of grid cells in the…

In many real-world settings, agents must learn from an offline dataset gathered by some prior behavior policy. Such a setting naturally leads to distribution shift between the behavior policy and the target policy being trained - requiring…

Questions about information encoded by the brain demand statistical frameworks for inferring relationships between neural firing and features of the world. The landmark discovery of grid cells demonstrates that neurons can represent spatial…

Many contemporary studies utilize grid-based models for neural field representation, but a systematic analysis of grid-based models is still missing, hindering the improvement of those models. Therefore, this paper introduces a theoretical…

The dynamics of power grids are governed by a large number of nonlinear differential and algebraic equations (DAEs). To safely operate the system, operators need to check that the states described by these DAEs stay within prescribed limits…

Human behavior has the nature of indeterminacy, which requires the pedestrian trajectory prediction system to model the multi-modality of future motion states. Unlike existing stochastic trajectory prediction methods which usually use a…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, tracking, behavior prediction) producing continuous or discrete probabilistic distributions. Trajectory…

Systematic generalization aims to evaluate reasoning about novel combinations from known components, an intrinsic property of human cognition. In this work, we study systematic generalization of NNs in forecasting future time series of…

We introduce a method for learning the dynamics of complex nonlinear systems based on deep generative models over temporal segments of states and actions. Unlike dynamics models that operate over individual discrete timesteps, we learn the…