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

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…

Generalized planning studies the construction of solution strategies that generalize across families of planning problems sharing a common domain model, formally defined by a transition function $\gamma : S \times A \rightarrow S$.…

We propose a technique to train semantic part-based models of object classes from Google Images. Our models encompass the appearance of parts and their spatial arrangement on the object, specific to each viewpoint. We learn these rich…

This paper presents an unsupervised approach that leverages raw aerial videos to learn to estimate planar homographic transformation between consecutive video frames. Previous learning-based estimators work on pairs of images to estimate…

Automatically detecting and recovering from failures is an important but challenging problem for autonomous robots. Most of the recent work on learning to plan from demonstrations lacks the ability to detect and recover from errors in the…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…

Learning from demonstration for motion planning is an ongoing research topic. In this paper we present a model that is able to learn the complex mapping from raw 2D-laser range findings and a target position to the required steering…

In recent years, the planning community has observed that techniques for learning heuristic functions have yielded improvements in performance. One approach is to use offline learning to learn predictive models from existing heuristics in a…

While deep learning surpasses human-level performance in narrow and specific vision tasks, it is fragile and over-confident in classification. For example, minor transformations in perspective, illumination, or object deformation in the…

This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…

Recent years have seen the rise of statistical program learning based on neural models as an alternative to traditional rule-based systems for programming by example. Rule-based approaches offer correctness guarantees in an unsupervised way…

This work aims to make plan recognition as planning more ready for real-world scenarios by adapting previous compilations to work with partial-order, half-seen observations of both fluents and actions. We first redefine what observations…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

We propose a general purpose active learning algorithm for structured prediction, gathering labeled data for training a model that outputs a set of related labels for an image or video. Active learning starts with a limited initial training…

An intelligent observer looks at the world and sees not only what is, but what is moving and what can be moved. In other words, the observer sees how the present state of the world can transform in the future. We propose a model that…

Planning - the ability to analyze the structure of a problem in the large and decompose it into interrelated subproblems - is a hallmark of human intelligence. While deep reinforcement learning (RL) has shown great promise for solving…

We consider the problem of learning to map from natural language instructions to state transitions (actions) in a data-efficient manner. Our method takes inspiration from the idea that it should be easier to ground language to concepts that…

Imitation learning is a widely used policy learning method that enables intelligent agents to acquire complex skills from expert demonstrations. The input to the imitation learning algorithm is usually composed of both the current…

Visual information plays an indispensable role in our daily interactions with environment. Such information is manipulated for a wide range of purposes spanning from basic object and material perception to complex gesture interpretations.…

We develop a learning framework for building deformable templates, which play a fundamental role in many image analysis and computational anatomy tasks. Conventional methods for template creation and image alignment to the template have…