相关论文: Learning Object-Centered Autotelic Behaviors with …

Graph neural networks use relational information as an inductive bias to enhance prediction performance. Not rarely, task-relevant relations are unknown and graph structure learning approaches have been proposed to learn them from data.…

Dexterous robotic hands are appealing for their agility and human-like morphology, yet their high degree of freedom makes learning to manipulate challenging. We introduce an approach for learning dexterous grasping. Our key idea is to embed…

Purposeful behavior is a hallmark of natural and artificial intelligence. Its acquisition is often believed to rely on world models, comprising both descriptive (what is) and prescriptive (what is desirable) aspects that identify and…

Graph neural networks have received increased attention over the past years due to their promising ability to handle graph-structured data, which can be found in many real-world problems such as recommended systems and drug synthesis. Most…

The aim of path planning is to reach the goal from starting point by searching for the route of an agent. In the path planning, the routes may vary depending on the number of variables such that it is important for the agent to reach…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to mathematically formalize these abilities using a neural network…

Federated graph learning collaboratively learns a global graph neural network with distributed graphs, where the non-independent and identically distributed property is one of the major challenges. Most relative arts focus on traditional…

Although data generation is often straightforward, extracting information from data is more difficult. Object-centric representation learning can extract information from images in an unsupervised manner. It does so by segmenting an image…

Autonomous mobility-on-demand (AMoD) systems represent a rapidly developing mode of transportation wherein travel requests are dynamically handled by a coordinated fleet of robotic, self-driving vehicles. Given a graph representation of the…

We introduce Attention Graphs, a new tool for mechanistic interpretability of Graph Neural Networks (GNNs) and Graph Transformers based on the mathematical equivalence between message passing in GNNs and the self-attention mechanism in…

Learning from graph-structured data is an important task in machine learning and artificial intelligence, for which Graph Neural Networks (GNNs) have shown great promise. Motivated by recent advances in geometric representation learning, we…

In this work, we aim to predict the future motion of vehicles in a traffic scene by explicitly modeling their pairwise interactions. Specifically, we propose a graph neural network that jointly predicts the discrete interaction modes and…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

Numerous important problems can be framed as learning from graph data. We propose a framework for learning convolutional neural networks for arbitrary graphs. These graphs may be undirected, directed, and with both discrete and continuous…

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

Graph Neural Networks (GNNs) have been widely applied to various fields due to their powerful representations of graph-structured data. Despite the success of GNNs, most existing GNNs are designed to learn node representations on the fixed…

Graphs are a commonly used construct for representing relationships between elements in complex high dimensional datasets. Many real-world phenomenon are dynamic in nature, meaning that any graph used to represent them is inherently…

Data association across frames is at the core of Multiple Object Tracking (MOT) task. This problem is usually solved by a traditional graph-based optimization or directly learned via deep learning. Despite their popularity, we find some…

We present a novel two-layer hierarchical reinforcement learning approach equipped with a Goals Relational Graph (GRG) for tackling the partially observable goal-driven task, such as goal-driven visual navigation. Our GRG captures the…

At the intersection of computation and cognitive science, graph theory is utilized as a formalized description of complex relationships and structures. Traditional graph models are often static, lacking dynamic and autonomous behavioral…