相关论文: Learning Model Preconditions for Planning with Mul…

In this work, we study the problem of how to leverage instructional videos to facilitate the understanding of human decision-making processes, focusing on training a model with the ability to plan a goal-directed procedure from real-world…

Modular automated driving systems commonly handle prediction and planning as sequential, separate tasks, thereby prohibiting cooperative maneuvers. To enable cooperative planning, this work introduces a prediction model that models the…

Learning is usually performed by observing real robot executions. Physics-based simulators are a good alternative for providing highly valuable information while avoiding costly and potentially destructive robot executions. We present a…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…

Neural operator learning models have emerged as very effective surrogates in data-driven methods for partial differential equations (PDEs) across different applications from computational science and engineering. Such operator learning…

Model-based reinforcement learning methods typically learn models for high-dimensional state spaces by aiming to reconstruct and predict the original observations. However, drawing inspiration from model-free reinforcement learning, we…

The aim of multimodal neural networks is to combine diverse data sources, referred to as modalities, to achieve enhanced performance compared to relying on a single modality. However, training of multimodal networks is typically hindered by…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

Affordance is crucial for intelligent robots in the context of object manipulation. In this paper, we argue that affordance should be task-/instruction-dependent, which is overlooked by many previous works. That is, different instructions…

Model-based planning in robotic domains is challenged by the hybrid nature of physical dynamics, where continuous motion is punctuated by discrete events such as contacts and impacts. Conventional latent world models typically employ…

In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…

Formulating real-world optimization problems often begins with making predictions from historical data (e.g., an optimizer that aims to recommend fast routes relies upon travel-time predictions). Typically, learning the prediction model…

An embodied system must not only model the patterns of the external world but also understand its own motion dynamics. A motion dynamic model is essential for efficient skill acquisition and effective planning. In this work, we introduce…

Mixed-dimensional partial differential equations (PDEs) are characterized by coupled operators defined on domains of varying dimensions and pose significant computational challenges due to their inherent ill-conditioning. Moreover, the…

Organizations rely on machine learning engineers (MLEs) to deploy models and maintain ML pipelines in production. Due to models' extensive reliance on fresh data, the operationalization of machine learning, or MLOps, requires MLEs to have…

Deliberation networks are a family of sequence-to-sequence models, which have achieved state-of-the-art performance in a wide range of tasks such as machine translation and speech synthesis. A deliberation network consists of multiple…

The rapid advancement of autonomous systems, including self-driving vehicles and drones, has intensified the need to forge true Spatial Intelligence from multi-modal onboard sensor data. While foundation models excel in single-modal…

Social dilemmas are situations where groups of individuals can benefit from mutual cooperation but conflicting interests impede them from doing so. This type of situations resembles many of humanity's most critical challenges, and…

In this paper we study how to learn stochastic, multimodal transition dynamics in reinforcement learning (RL) tasks. We focus on evaluating transition function estimation, while we defer planning over this model to future work.…

In recent years, masked diffusion models (MDMs) have emerged as a promising alternative approach for generative modeling over discrete domains. Compared to autoregressive models (ARMs), MDMs trade off complexity at training time with…