相关论文: Hippocampal formation-inspired probabilistic gener…

This paper presents a novel approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodology leverages a hierarchical forward-looking, risk-aware…

We propose a data-driven approach to represent neuronal network dynamics as a Probabilistic Graphical Model (PGM). Our approach learns the PGM structure by employing dimension reduction to network response dynamics evoked by stimuli applied…

Animal navigation research posits that organisms build and maintain internal spatial representations, or maps, of their environment. We ask if machines -- specifically, artificial intelligence (AI) navigation agents -- also build implicit…

Robust evidence suggests that humans explore their environment using a combination of topological landmarks and coarse-grained path integration. This approach relies on identifiable environmental features (topological landmarks) in tandem…

A novel framework is proposed to incrementally collect landmark-based graph memory and use the collected memory for image goal navigation. Given a target image to search, an embodied robot utilizes semantic memory to find the target in an…

Memory data are ubiquitous in Large Language Model (LLM)-based agents (e.g., OpenClaw and Manus). A few recent works have attempted to exploit agents'memory for improving their performance on the question-answering (QA) task, but they lack…

This paper proposes a generative probabilistic model integrating emergent communication and multi-agent reinforcement learning. The agents plan their actions by probabilistic inference, called control as inference, and communicate using…

In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…

Enabling embodied agents to imagine future states is essential for robust and generalizable visual navigation. Yet, state-of-the-art systems typically rely on modular designs that decouple navigation planning from visual world modeling,…

Sequential memory, the ability to form and accurately recall a sequence of events or stimuli in the correct order, is a fundamental prerequisite for biological and artificial intelligence as it underpins numerous cognitive functions (e.g.,…

Navigation in unfamiliar environments presents a major challenge for robots: while mapping and planning techniques can be used to build up a representation of the world, quickly discovering a path to a desired goal in unfamiliar settings…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

The present study forms part of a research project that aims to develop cognition-enabled robotic agents with environmental interaction capabilities close to human proficiency. This approach is based on human-derived neuronal data in…

This study introduces an integrated framework for predictive causal inference designed to overcome limitations inherent in conventional single model approaches. Specifically, we combine a Hidden Markov Model (HMM) for spatial health state…

The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…

We present generalized additive latent and mixed models (GALAMMs) for analysis of clustered data with responses and latent variables depending smoothly on observed variables. A scalable maximum likelihood estimation algorithm is proposed,…

In this paper we developed a hierarchical network model, called Hierarchical Prediction Network (HPNet), to understand how spatiotemporal memories might be learned and encoded in the recurrent circuits in the visual cortical hierarchy for…

Environment prediction frameworks are integral for autonomous vehicles, enabling safe navigation in dynamic environments. LiDAR generated occupancy grid maps (L-OGMs) offer a robust bird's eye-view scene representation that facilitates…

The medial temporal lobe (MTL), a brain region containing the hippocampus and nearby areas, is hypothesized to be an experience-construction system in mammals, supporting both recall and imagination of temporally-extended sequences of…

Robot path planning plays a pivotal role in enabling autonomous systems to navigate safely and efficiently in complex and uncertain environments. Despite extensive research on classical graph-based methods and sampling-based planners,…