相关论文: Active Inference and Behavior Trees for Reactive A…

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks. While in the past, robot programs were often written statically and tuned manually, the current, faster transition times call for…

Active inference is a state-of-the-art framework for modelling the brain that explains a wide range of mechanisms such as habit formation, dopaminergic discharge and curiosity. However, recent implementations suffer from an exponential…

The Active Inference framework models perception and action as a unified process, where agents use probabilistic models to predict and actively minimize sensory discrepancies. In complement and contrast, traditional population-based…

This paper formulates the problem of building a context-aware predictive model based on user diverse behavioral activities with smartphones. In the area of machine learning and data science, a tree-like model as that of decision tree is…

Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…

Task and motion planning represents a powerful set of hybrid planning methods that combine reasoning over discrete task domains and continuous motion generation. Traditional reasoning necessitates task domain models and enough information…

Inferential decision-making algorithms typically assume that an underlying probabilistic model of decision alternatives and outcomes may be learned a priori or online. Furthermore, when applied to robots in real-world settings they often…

We introduce a novel interpretable tree based algorithm for prediction in a regression setting. Our motivation is to estimate the unknown regression function from a functional decomposition perspective in which the functional components…

Autonomous object search is challenging for mobile robots operating in indoor environments due to partial observability, perceptual uncertainty, and the need to trade off exploration and navigation efficiency. Classical probabilistic…

A human action can be seen as transitions between one's body poses over time, where the transition depicts a temporal relation between two poses. Recognizing actions thus involves learning a classifier sensitive to these pose transitions as…

State of the art methods for robotic path planning in dynamic environments, such as crowds or traffic, rely on hand crafted motion models for agents. These models often do not reflect interactions of agents in real world scenarios. To…

Deep active inference has been proposed as a scalable approach to perception and action that deals with large policy and state spaces. However, current models are limited to fully observable domains. In this paper, we describe a deep active…

Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its…

With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks. However, dynamically-changing human environments requires reactive motion plans.…

An effective approach to solving long-horizon tasks in robotics domains with continuous state and action spaces is bilevel planning, wherein a high-level search over an abstraction of an environment is used to guide low-level…

Autonomous selection of optimal options for data collection from multiple alternatives is challenging in uncertain environments. When secondary information about options is accessible, such problems can be framed as contextual multi-armed…

Behavior sequences, composed of executable steps, serve as the operational foundation for multi-constraint planning problems such as travel planning. In such tasks, each planning step is not only constrained locally but also influenced by…

In this work we present a preliminary investigation of a novel algorithm called Dyna-T. In reinforcement learning (RL) a planning agent has its own representation of the environment as a model. To discover an optimal policy to interact with…

We investigate active learning by pairwise similarity over the leaves of trees originating from hierarchical clustering procedures. In the realizable setting, we provide a full characterization of the number of queries needed to achieve…

A main focus of machine learning research has been improving the generalization accuracy and efficiency of prediction models. Many models such as SVM, random forest, and deep neural nets have been proposed and achieved great success.…