相关论文: Learning Perceptual Concepts by Bootstrapping from…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…

Concept Bottleneck Models (CBMs) enhance the interpretability of neural networks by basing predictions on human-understandable concepts. However, current CBMs typically rely on concept sets extracted from large language models or extensive…

Humans, even at a very early age, can learn visual concepts and understand geometry and layout through active interaction with the environment, and generalize their compositions to complete tasks described by natural languages in novel…

Visual recognition tasks are often limited to dealing with a small subset of classes simply because the labels for the remaining classes are unavailable. We are interested in identifying novel concepts in a dataset through representation…

Scene understanding and object recognition is a difficult to achieve yet crucial skill for robots. Recently, Convolutional Neural Networks (CNN), have shown success in this task. However, there is still a gap between their performance on…

The thesis contributes in several important ways to the research area of 3D object category learning and recognition. To cope with the mentioned limitations, we look at human cognition, in particular at the fact that human beings learn to…

Concept probing has recently garnered increasing interest as a way to help interpret artificial neural networks, dealing both with their typically large size and their subsymbolic nature, which ultimately renders them unfeasible for direct…

Concept Bottleneck Models (CBMs) have become a popular approach to enable interpretability in neural networks by constraining classifier inputs to a set of human-understandable concepts. While effective, current models embed concepts in…

Explicit concept space models have proven efficacy for text representation in many natural language and text mining applications. The idea is to embed textual structures into a semantic space of concepts which captures the main ideas,…

Early in development, infants learn to extract surprisingly complex aspects of visual scenes. This early learning comes together with an initial understanding of the extracted concepts, such as their implications, causality, and using them…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

As robots' manipulation capabilities improve for pick-and-place tasks (e.g., object packing, sorting, and kitting), methods focused on understanding human-acceptable object configurations remain limited expressively with regard to capturing…

We propose a lightly-supervised approach for information extraction, in particular named entity classification, which combines the benefits of traditional bootstrapping, i.e., use of limited annotations and interpretability of extraction…

We propose incorporating human labelers in a model fine-tuning system that provides immediate user feedback. In our framework, human labelers can interactively query model predictions on unlabeled data, choose which data to label, and see…

Modeling dynamical systems is important in many disciplines, e.g., control, robotics, or neurotechnology. Commonly the state of these systems is not directly observed, but only available through noisy and potentially high-dimensional…

Concept Bottleneck Models (CBMs) map the inputs onto a set of interpretable concepts (``the bottleneck'') and use the concepts to make predictions. A concept bottleneck enhances interpretability since it can be investigated to understand…

For humans, both the proprioception and touch sensing are highly utilized when performing haptic perception. However, most approaches in robotics use only either proprioceptive data or touch data in haptic object recognition. In this paper,…

Discovering visual knowledge from weakly labeled data is crucial to scale up computer vision recognition system, since it is expensive to obtain fully labeled data for a large number of concept categories. In this paper, we propose…

Cognition does not only depend on bottom-up sensor feature abstraction, but also relies on contextual information being passed top-down. Context is higher level information that helps to predict belief states at lower levels. The main…