相关论文: From Demonstrations to Task-Space Specifications: …

We tackle the challenge of robotic bin packing with irregular objects, such as groceries. Given the diverse physical attributes of these objects and the complex constraints governing their placement and manipulation, employing preprogrammed…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…

Video generative models demonstrate great promise in robotics by serving as visual planners or as policy supervisors. When pretrained on internet-scale data, such video models intimately understand alignment with natural language, and can…

A major challenge in research involving artificial intelligence (AI) is the development of algorithms that can find solutions to problems that can generalize to different environments and tasks. Unlike AI, humans are adept at finding…

This paper proposes an approach to analyze an event log of a business process in order to generate case-level recommendations of treatments that maximize the probability of a given outcome. Users classify the attributes in the event log…

Predictions about people, such as their expected educational achievement or their credit risk, can be performative and shape the outcome that they aim to predict. Understanding the causal effect of these predictions on the eventual outcomes…

In this work, we want to learn to model the dynamics of similar yet distinct groups of interacting objects. These groups follow some common physical laws that exhibit specificities that are captured through some vectorial description. We…

Learning from demonstrations has gained increasing interest in the recent past, enabling an agent to learn how to make decisions by observing an experienced teacher. While many approaches have been proposed to solve this problem, there is…

The recent interest in human dynamics has led researchers to investigate the stochastic processes that explain human behaviour in different contexts. Here we propose a generative model to capture the essential dynamics of survival analysis,…

Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However,…

This paper discusses an approach to inertial parameter estimation for the case of cargo carrying spacecraft that is based on causal learning, i.e. learning from the responses of the spacecraft, under actuation. Different spacecraft…

The deployment of reinforcement learning (RL) in the real world comes with challenges in calibrating user trust and expectations. As a step toward developing RL systems that are able to communicate their competencies, we present a method of…

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the…

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…

Machine learning models have prevalent applications in many real-world problems, which increases the importance of correctness in the behaviour of these trained models. Finding a good test case that can reveal the potential failure in these…

While there is significant interest in using generative AI tools as general-purpose models for specific ML applications, discriminative models are much more widely deployed currently. One of the key shortcomings of these discriminative AI…

In this paper we present an approach for learning to imitate human behavior on a semantic level by markerless visual observation. We analyze a set of spatial constraints on human pose data extracted using convolutional pose machines and…

Learning from demonstrations is a common way for users to teach robots, but it is prone to spurious feature correlations. Recent work constructs state abstractions, i.e. visual representations containing task-relevant features, from…

Deep reinforcement learning has achieved great strides in solving challenging motion control tasks. Recently, there has been significant work on methods for exploiting the data gathered during training, but there has been less work on how…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…