相关论文: Equivariant Deep Dynamical Model for Motion Predic…

Recent deep learning models can efficiently combine inputs from different modalities (e.g., images and text) and learn to align their latent representations, or to translate signals from one domain to another (as in image captioning, or…

Koopman operators model nonlinear dynamics as a linear dynamic system acting on a nonlinear function as the state. This nonstandard state is often called a Koopman observable and is usually approximated numerically by a superposition of…

Spherical convolutional networks have been introduced recently as tools to learn powerful feature representations of 3D shapes. Spherical CNNs are equivariant to 3D rotations making them ideally suited to applications where 3D data may be…

Equivariant neural networks incorporate symmetries into their architecture, achieving higher generalization performance. However, constructing equivariant neural networks typically requires prior knowledge of data types and symmetries,…

In addressing the challenge of Crystal Structure Prediction (CSP), symmetry-aware deep learning models, particularly diffusion models, have been extensively studied, which treat CSP as a conditional generation task. However, ensuring…

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…

We propose a new probabilistic framework that allows mobile robots to autonomously learn deep, generative models of their environments that span multiple levels of abstraction. Unlike traditional approaches that combine engineered models…

Integrating invariance into data representations is a principled design in intelligent systems and web applications. Representations play a fundamental role, where systems and applications are both built on meaningful representations of…

Deep equilibrium models (DEQs) have proven to be very powerful for learning data representations. The idea is to replace traditional (explicit) feedforward neural networks with an implicit fixed-point equation, which allows to decouple the…

3D human motion prediction is a research area of high significance and a challenge in computer vision. It is useful for the design of many applications including robotics and autonomous driving. Traditionally, autogregressive models have…

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation,…

Deep generative models have recently garnered significant attention across various fields, from physics to chemistry, where sampling from unnormalized Boltzmann-like distributions represents a fundamental challenge. In particular,…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

As the success of deep models has led to their deployment in all areas of computer vision, it is increasingly important to understand how these representations work and what they are capturing. In this paper, we shed light on deep…

We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…

Effective motion representation is crucial for enabling robots to imitate expressive behaviors in real time, yet existing motion controllers often ignore inherent patterns in motion. Previous efforts in representation learning do not…

Diffusion Policies are effective at learning closed-loop manipulation policies from human demonstrations but generalize poorly to novel arrangements of objects in 3D space, hurting real-world performance. To address this issue, we propose…

Imitation learning has proven to be a powerful tool for training complex visuomotor policies. However, current methods often require hundreds to thousands of expert demonstrations to handle high-dimensional visual observations. A key reason…

While end-to-end approaches have achieved state-of-the-art performance in many perception tasks, they are not yet able to compete with 3D geometry-based methods in pose estimation. Moreover, absolute pose regression has been shown to be…

Exploiting symmetry in dynamical systems is a powerful way to improve the generalization of deep learning. The model learns to be invariant to transformation and hence is more robust to distribution shift. Data augmentation and equivariant…