相关论文: Neural NID Rules

Machines that can predict the effect of physical interactions on the dynamics of previously unseen object instances are important for creating better robots and interactive virtual worlds. In this work, we focus on predicting the dynamics…

Machine learning models of visual action recognition are typically trained and tested on data from specific situations where actions are associated with certain objects. It is an open question how action-object associations in the training…

This paper presents Networks of Influence Diagrams (NID), a compact, natural and highly expressive language for reasoning about agents beliefs and decision-making processes. NIDs are graphical structures in which agents mental models are…

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…

Models for near-rigid shape matching are typically based on distance-related features, in order to infer matches that are consistent with the isometric assumption. However, real shapes from image datasets, even when expected to be related…

Dynamic nonlinear systems exhibit distortions arising from coupled static and dynamic effects. Their intertwined nature poses major challenges for data-driven modeling. This paper presents a theoretical framework grounded in structured…

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…

Modeling continuous dynamical systems from discretely sampled observations is a fundamental problem in data science. Often, such dynamics are the result of non-local processes that present an integral over time. As such, these systems are…

Learning meaningful abstract models of Markov Decision Processes (MDPs) is crucial for improving generalization from limited data. In this work, we show how geometric priors can be imposed on the low-dimensional representation manifold of a…

Understanding real-world dynamical phenomena remains a challenging task. Across various scientific disciplines, machine learning has advanced as the go-to technology to analyze nonlinear dynamical systems, identify patterns in big data, and…

We investigate how a residual network can learn to predict the dynamics of interacting shapes purely as an image-to-image regression task. With a simple 2d physics simulator, we generate short sequences composed of rectangles put in motion…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

We propose a method combining relational-logic representations with neural network learning. A general lifted architecture, possibly reflecting some background domain knowledge, is described through relational rules which may be handcrafted…

Deep neural networks (DNN) have shown great capacity of modeling a dynamical system; nevertheless, they usually do not obey physics constraints such as conservation laws. This paper proposes a new learning framework named ConCerNet to…

Models that adapt their predictions based on some given contexts, also known as in-context learning, have become ubiquitous in recent years. We propose to study the behavior of such models when data is contaminated by noise. Towards this…

The ability to accurately predict the surrounding environment is a foundational principle of intelligence in biological and artificial agents. In recent years, a variety of approaches have been proposed for learning to predict the physical…

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

Due to object detection's close relationship with video analysis and image understanding, it has attracted much research attention in recent years. Traditional object detection methods are built on handcrafted features and shallow trainable…

Humans are able to make rich predictions about the future dynamics of physical objects from a glance. On the other hand, most existing computer vision approaches require strong assumptions about the underlying system, ad-hoc modeling, or…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…