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

Learning new skills by observing humans' behaviors is an essential capability of AI. In this work, we leverage instructional videos to study humans' decision-making processes, focusing on learning a model to plan goal-directed actions in…

This paper presents a framework for the analysis of changes in visual streams: ordered sequences of images, possibly separated by significant time gaps. We propose a new approach to incorporating unlabeled data into training to generate…

In many reinforcement learning (RL) applications, the observation space is specified by human developers and restricted by physical realizations, and may thus be subject to dramatic changes over time (e.g. increased number of observable…

State-of-the-art computer vision systems are trained to predict a fixed set of predetermined object categories. This restricted form of supervision limits their generality and usability since additional labeled data is needed to specify any…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

As the intermediate-level representations bridging the two levels, structured representations of visual scenes, such as visual relationships between pairwise objects, have been shown to not only benefit compositional models in learning to…

When created faithfully from real-world data, Digital 3D representations of objects can be useful for human or computer-assisted analysis. Such models can also serve for generating training data for machine learning approaches in settings…

We present a new latent model of natural images that can be learned on large-scale datasets. The learning process provides a latent embedding for every image in the training dataset, as well as a deep convolutional network that maps the…

In reinforcement learning, we can learn a model of future observations and rewards, and use it to plan the agent's next actions. However, jointly modeling future observations can be computationally expensive or even intractable if the…

Learning representations purely from observations concerns the problem of learning a low-dimensional, compact representation which is beneficial to prediction models. Under the hypothesis that the intrinsic latent factors follow some casual…

Planning is an important capability of artificial agents that perform long-horizon tasks in real-world environments. In this work, we explore the use of pre-trained language models (PLMs) to reason about plan sequences from text…

We introduce a new approach to prediction in graphical models with latent-shift adaptation, i.e., where source and target environments differ in the distribution of an unobserved confounding latent variable. Previous work has shown that as…

Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments that violate their assumptions (e.g., tall grass).…

In this work we show that semi-supervised models for vehicle trajectory prediction significantly improve performance over supervised models on state-of-the-art real-world benchmarks. Moving from supervised to semi-supervised models allows…

Humans routinely retrace paths in a novel environment both forwards and backwards despite uncertainty in their motion. This paper presents an approach for doing so. Given a demonstration of a path, a first network generates a path…

Learning long-term dynamics models is the key to understanding physical common sense. Most existing approaches on learning dynamics from visual input sidestep long-term predictions by resorting to rapid re-planning with short-term models.…

Navigation of terrestrial robots is typically addressed either with localization and mapping (SLAM) followed by classical planning on the dynamically created maps, or by machine learning (ML), often through end-to-end training with…

Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…

The objective of transfer learning is to enhance estimation and inference in a target data by leveraging knowledge gained from additional sources. Recent studies have explored transfer learning for independent observations in complex,…

This work introduces a non-intrusive model reduction approach for learning reduced models from partially observed state trajectories of high-dimensional dynamical systems. The proposed approach compensates for the loss of information due to…