相关论文: Binding Actions to Objects in World Models

Human action is naturally compositional: humans can easily recognize and perform actions with objects that are different from those used in training demonstrations. In this paper, we study the compositionality of action by looking into the…

Inspired by recent advances in neural machine translation, that jointly align and translate using encoder-decoder networks equipped with attention, we propose an attentionbased LSTM model for human activity recognition. Our model jointly…

In this paper we propose an end-to-end trainable deep neural network model for egocentric activity recognition. Our model is built on the observation that egocentric activities are highly characterized by the objects and their locations in…

Agents capable of reasoning and planning in the real world require the ability of predicting the consequences of their actions. While world models possess this capability, they most often require action labels, that can be complex to obtain…

In this paper, we confront the problem of applying reinforcement learning to agents that perceive the environment through many sensors and that can perform parallel actions using many actuators as is the case in complex autonomous robots.…

Much of the remarkable progress in computer vision has been focused around fully supervised learning mechanisms relying on highly curated datasets for a variety of tasks. In contrast, humans often learn about their world with little to no…

Federated learning (FL) allows distributed participants to train machine learning models in a decentralized manner. It can be used for radio signal classification with multiple receivers due to its benefits in terms of privacy and…

More often than not in benchmark supervised ML, tabular data is flat, i.e. consists of a single $m \times d$ (rows, columns) file, but cases abound in the real world where observations are described by a set of tables with structural…

Object-centric representations are a promising path toward more systematic generalization by providing flexible abstractions upon which compositional world models can be built. Recent work on simple 2D and 3D datasets has shown that models…

We explore in depth how categorical data can be processed with embeddings in the context of claim severity modeling. We develop several models that range in complexity from simple neural networks to state-of-the-art attention based…

Language is an interface to the outside world. In order for embodied agents to use it, language must be grounded in other, sensorimotor modalities. While there is an extended literature studying how machines can learn grounded language, the…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

We propose an adaptation to the training of Vision Transformers (ViTs) that allows for an explicit modeling of objects during the attention computation. This is achieved by adding a new branch to selected attention layers that computes an…

Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…

For humans, understanding the relationships between objects using visual signals is intuitive. For artificial intelligence, however, this task remains challenging. Researchers have made significant progress studying semantic relationship…

Over the years various methods have been proposed for the problem of object detection. Recently, we have witnessed great strides in this domain owing to the emergence of powerful deep neural networks. However, there are typically two main…

We propose augmenting deep neural networks with an attention mechanism for the visual object detection task. As perceiving a scene, humans have the capability of multiple fixation points, each attended to scene content at different…

Attention is an important mechanism that can be employed for a variety of deep learning models across many different domains and tasks. This survey provides an overview of the most important attention mechanisms proposed in the literature.…

In the face of difficult exploration problems in reinforcement learning, we study whether giving an agent an object-centric mapping (describing a set of items and their attributes) allow for more efficient learning. We found this problem is…

The attention mechanism lies at the core of the transformer architecture, providing an interpretable model-internal signal that has motivated a growing interest in attention-based model explanations. Although attention weights do not…