相关论文: Learning Visual Planning Models from Partially Obs…

Classical planning aims to find a sequence of actions, a plan, that maps a starting state into one of the goal states. If a trajectory appears to be leading to the goal, should we prioritise exploring it? Seminal work in goal recognition…

What makes an image appear realistic? In this work, we are answering this question from a data-driven perspective by learning the perception of visual realism directly from large amounts of data. In particular, we train a Convolutional…

Using visual model-based learning for deformable object manipulation is challenging due to difficulties in learning plannable visual representations along with complex dynamic models. In this work, we propose a new learning framework that…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Recognition of goals and plans using incomplete evidence from action execution can be done efficiently by using planning techniques. In many applications it is important to recognize goals and plans not only accurately, but also quickly. In…

We propose a novel planning technique for satisfying tasks specified in temporal logic in partially revealed environments. We define high-level actions derived from the environment and the given task itself, and estimate how each action…

To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object…

Specifying a complete domain model is time-consuming, which has been a bottleneck of AI planning technique application in many real-world scenarios. Most classical domain-model learning approaches output a domain model in the form of the…

Recurrent neural networks have recently been used for learning to describe images using natural language. However, it has been observed that these models generalize poorly to scenes that were not observed during training, possibly depending…

We introduce a new algorithm, Regression based Supervised Learning (RSL), for learning per instance Neural Network (NN) defined heuristic functions for classical planning problems. RSL uses regression to select relevant sets of states at a…

We consider the problem of forecasting complex, nonlinear space-time processes when observations provide only partial information of on the system's state. We propose a natural data-driven framework, where the system's dynamics are modelled…

Passive observational data, such as human videos, is abundant and rich in information, yet remains largely untapped by current RL methods. Perhaps surprisingly, we show that passive data, despite not having reward or action labels, can…

How do children learn correspondences between the language and the world from noisy, ambiguous, naturalistic input? One hypothesis is via cross-situational learning: tracking words and their possible referents across multiple situations…

To coordinate with other agents in its environment, an agent needs models of what the other agents are trying to do. When communication is impossible or expensive, this information must be acquired indirectly via plan recognition. Typical…

We present exact algorithms for identifying deterministic-actions effects and preconditions in dynamic partially observable domains. They apply when one does not know the action model(the way actions affect the world) of a domain and must…

How an agent can act optimally in stochastic, partially observable domains is a challenge problem, the standard approach to address this issue is to learn the domain model firstly and then based on the learned model to find the (near)…

We introduce the first learning-based reconstructability predictor to improve view and path planning for large-scale 3D urban scene acquisition using unmanned drones. In contrast to previous heuristic approaches, our method learns a model…

Transfer learning makes it possible to use large vision networks on a variety of domains, by specializing their models' general filters to new tasks. However, these networks assume the input images to have 3 input channels, making them…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

We introduce a representation learning framework for spatial trajectories. We represent partial observations of trajectories as probability distributions in a learned latent space, which characterize the uncertainty about unobserved parts…