相关论文: Bidirectional Interaction between Visual and Motor…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

Predictive coding has emerged as a prominent model of how the brain learns through predictions, anticipating the importance accorded to predictive learning in recent AI architectures such as transformers. Here we propose a new framework for…

Predicting future trajectories of surrounding agents is essential for safety-critical autonomous driving. Most existing work focuses on predicting marginal trajectories for each agent independently. However, it has rarely been explored in…

Large-scale video generative models have recently demonstrated strong visual capabilities, enabling the prediction of future frames that adhere to the logical and physical cues in the current observation. In this work, we investigate…

An important problem in the field of bioinformatics is to identify interactive effects among profiled variables for outcome prediction. In this paper, a logistic regression model with pairwise interactions among a set of binary covariates…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

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…

Active Inference (ActInf) is an emerging theory that explains perception and action in biological agents, in terms of minimizing a free energy bound on Bayesian surprise. Goal-directed behavior is elicited by introducing prior beliefs on…

One of the most basic skills a robot should possess is predicting the effect of physical interactions with objects in the environment. This enables optimal action selection to reach a certain goal state. Traditionally, dynamics are…

This paper studies graphical model selection, i.e., the problem of estimating a graph of statistical relationships among a collection of random variables. Conventional graphical model selection algorithms are passive, i.e., they require all…

Active inference is a mathematical framework which originated in computational neuroscience as a theory of how the brain implements action, perception and learning. Recently, it has been shown to be a promising approach to the problems of…

In psychology and neuroscience it is common to describe cognitive systems as input/output devices where perceptual and motor functions are implemented in a purely feedforward, open-loop fashion. On this view, perception and action are often…

Autonomous vehicles hold great promise in improving the future of transportation. The driving models used in these vehicles are based on neural networks, which can be difficult to validate. However, ensuring the safety of these models is…

Effective modeling of human interactions is of utmost importance when forecasting behaviors such as future trajectories. Each individual, with its motion, influences surrounding agents since everyone obeys to social non-written rules such…

Generative models for source code are an interesting structured prediction problem, requiring to reason about both hard syntactic and semantic constraints as well as about natural, likely programs. We present a novel model for this problem…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

Coordination recognition and subtle pattern prediction of future trajectories play a significant role when modeling interactive behaviors of multiple agents. Due to the essential property of uncertainty in the future evolution,…

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…

Effectively handling the interplay between spatial perception and action generation remains a critical bottleneck in robotic manipulation. Existing methods typically treat spatial perception and action execution as decoupled or strictly…

In many different fields interactions between objects play a critical role in determining their behavior. Graph neural networks (GNNs) have emerged as a powerful tool for modeling interactions, although often at the cost of adding…