相关论文: World Models and Predictive Coding for Cognitive a…

Interoception and exteroception provide continuous feedback about the body and the environment, yet how they are dynamically integrated within a unified predictive coding framework has remained under-specified. This paper develops and…

This paper deals with differentiable dynamical models congruent with neural process theories that cast brain function as the hierarchical refinement of an internal generative model explaining observations. Our work extends existing…

The rapid evolution of machine learning has propelled neural networks to unprecedented success across diverse domains. In particular, multimodal learning has emerged as a transformative paradigm, leveraging complementary information from…

Building machines that learn and think like humans is essential not only for cognitive science, but also for computational neuroscience, whose ultimate goal is to understand how cognition is implemented in biological brains. A new cognitive…

Model-free learning has been considered as an efficient tool for designing control mechanisms when the model of the system environment or the interaction between the decision-making entities is not available as a-priori knowledge. With…

Artificial intelligence (AI) is rapidly becoming one of the key technologies of this century. The majority of results in AI thus far have been achieved using deep neural networks trained with a learning algorithm called error…

A world model is essential for an agent to predict the future and plan in domains such as autonomous driving and robotics. To achieve this, recent advancements have focused on video generation, which has gained significant attention due to…

Animals exploit time to survive in the world. Temporal information is required for higher-level cognitive abilities such as planning, decision making, communication, and effective cooperation. Since time is an inseparable part of cognition,…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to mathematically formalize these abilities using a neural network…

Bayesian predictive coding is a putative neuromorphic method for acquiring higher-level neural representations to account for sensory input. Although originating in the neuroscience community, there are also efforts in the machine learning…

Findings in recent years on the sensitivity of convolutional neural networks to additive noise, light conditions and to the wholeness of the training dataset, indicate that this technology still lacks the robustness needed for the…

Associative memories in the brain receive and store patterns of activity registered by the sensory neurons, and are able to retrieve them when necessary. Due to their importance in human intelligence, computational models of associative…

The utility of learning a dynamics/world model of the environment in reinforcement learning has been shown in a many ways. When using neural networks, however, these models suffer catastrophic forgetting when learned in a lifelong or…

Broadly intelligent agents should form task-specific abstractions that selectively expose the essential elements of a task, while abstracting away the complexity of the raw sensorimotor space. In this work, we present Neuro-Symbolic…

Language models (LMs) are sentence-completion engines trained on massive corpora. LMs have emerged as a significant breakthrough in natural-language processing, providing capabilities that go far beyond sentence completion including…

World models improve a learning agent's ability to efficiently operate in interactive and situated environments. This work focuses on the task of building world models of text-based game environments. Text-based games, or interactive…

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…

Real-world robotic applications, from autonomous exploration to assistive technologies, require adaptive, interpretable, and data-efficient learning paradigms. While deep learning architectures and foundation models have driven significant…

Training robot policies within a learned world model is trending due to the inefficiency of real-world interactions. The established image-based world models and policies have shown prior success, but lack robust geometric information that…

Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive…