相关论文: Learning Contact Dynamics using Physically Structu…

Protein contacts provide key information for the understanding of protein structure and function, and therefore contact prediction from sequences is an important problem. Recent research shows that some correctly predicted long-range…

Automatic human affect recognition is a key step towards more natural human-computer interaction. Recent trends include recognition in the wild using a fusion of audiovisual and physiological sensors, a challenging setting for conventional…

Humans have a remarkable capacity to understand the physical dynamics of objects in their environment, flexibly capturing complex structures and interactions at multiple levels of detail. Inspired by this ability, we propose a hierarchical…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

While deep feature learning has revolutionized techniques for static-image understanding, the same does not quite hold for video processing. Architectures and optimization techniques used for video are largely based off those for static…

Deep neural networks give us a powerful method to model the training dataset's relationship between input and output. We can regard that as a complex adaptive system consisting of many artificial neurons that work as an adaptive memory as a…

Abstract object properties and their relations are deeply rooted in human common sense, allowing people to predict the dynamics of the world even in situations that are novel but governed by familiar laws of physics. Standard machine…

Measurement noise is an integral part while collecting data of a physical process. Thus, noise removal is a necessary step to draw conclusions from these data, and it often becomes quite essential to construct dynamical models using these…

Dynamical systems are used to model a variety of phenomena in which the bifurcation structure is a fundamental characteristic. Here we propose a statistical machine-learning approach to derive lowdimensional models that automatically…

Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…

In this paper, we propose and realize a new deep learning architecture for discovering symbolic representations for objects and their relations based on the self-supervised continuous interaction of a manipulator robot with multiple objects…

We investigate recurrent neural networks with asymmetric interactions and demonstrate that the inclusion of self-couplings or sparse excitatory inter-module connections leads to the emergence of a densely connected manifold of dynamically…

Deep learning continues to play as a powerful state-of-art technique that has achieved extraordinary accuracy levels in various domains of regression and classification tasks, including images, video, signal, and natural language data. The…

We study the problem of rapidly identifying contact dynamics of unknown objects in partially known environments. The key innovation of our method is a novel formulation of the contact dynamics estimation problem as the joint estimation of…

Symmetry is omnipresent in nature and perceived by the visual system of many species, as it facilitates detecting ecologically important classes of objects in our environment. Symmetry perception requires abstraction of long-range spatial…

Accurately predicting deformable linear object (DLO) dynamics is challenging, especially when the task requires a model that is both human-interpretable and computationally efficient. In this work, we draw inspiration from the pseudo-rigid…

Learning workable representations of dynamical systems is becoming an increasingly important problem in a number of application areas. By leveraging recent work connecting deep neural networks to systems of differential equations, we…

Deep neural networks come in many sizes and architectures. The choice of architecture, in conjunction with the dataset and learning algorithm, is commonly understood to affect the learned neural representations. Yet, recent results have…

We propose a framework for the completely unsupervised learning of latent object properties from their interactions: the perception-prediction network (PPN). Consisting of a perception module that extracts representations of latent object…

Deep neural networks (DNNs) have been shown to outperform traditional machine learning algorithms in a broad variety of application domains due to their effectiveness in modeling complex problems and handling high-dimensional datasets. Many…