相关论文: EqMotion: Equivariant Multi-agent Motion Predictio…

Simulating collisions of deformable objects is a fundamental yet challenging task due to the complexity of modeling solid mechanics and multi-body interactions. Existing data-driven methods often suffer from lack of equivariance to physical…

Appearance of dressed humans undergoes a complex geometric transformation induced not only by the static pose but also by its dynamics, i.e., there exists a number of cloth geometric configurations given a pose depending on the way it has…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

Perceptual learning enables humans to recognize and represent stimuli invariant to various transformations and build a consistent representation of the self and physical world. Such representations preserve the invariant physical relations…

Recent attempts at introducing rotation invariance or equivariance in 3D deep learning approaches have shown promising results, but these methods still struggle to reach the performances of standard 3D neural networks. In this work we study…

Predicting the behaviors of other agents on the road is critical for autonomous driving to ensure safety and efficiency. However, the challenging part is how to represent the social interactions between agents and output different possible…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

Many machine learning tasks involve learning functions that are known to be invariant or equivariant to certain symmetries of the input data. However, it is often challenging to design neural network architectures that respect these…

Mental rotation -- the ability to compare objects seen from different viewpoints -- is a fundamental example of mental simulation and spatial world modeling in humans. Here we propose a mechanistic model of human mental rotation, leveraging…

Equivariant neural networks, whose hidden features transform according to representations of a group G acting on the data, exhibit training efficiency and an improved generalisation performance. In this work, we extend group invariant and…

Motion prediction is essential and challenging for autonomous vehicles and social robots. One challenge of motion prediction is to model the interaction among traffic actors, which could cooperate with each other to avoid collisions or form…

Vision-language-action policies learn manipulation skills across tasks, environments and embodiments through large-scale pre-training. However, their ability to generalize to novel robot configurations remains limited. Most approaches…

Combining motion prediction and motion planning offers a promising framework for enhancing interactions between automated vehicles and other traffic participants. However, this introduces challenges in conditioning predictions on navigation…

Learning multi-agent dynamics is a core AI problem with broad applications in robotics and autonomous driving. While most existing works focus on deterministic prediction, producing probabilistic forecasts to quantify uncertainty and assess…

Recently, a variety of new equivariant neural network model architectures have been proposed that generalize better over rotational and reflectional symmetries than standard models. These models are relevant to robotics because many…

Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D…

Motion forecasting is a key module in an autonomous driving system. Due to the heterogeneous nature of multi-sourced input, multimodality in agent behavior, and low latency required by onboard deployment, this task is notoriously…

Recently, equivariant neural networks for policy learning have shown promising improvements in sample efficiency and generalization, however, their wide adoption faces substantial barriers due to implementation complexity. Equivariant…

Advancements in Multimodal Large Language Models (MLLMs) have improved human motion understanding. However, these models remain constrained by their "instruct-only" nature, lacking interactivity and adaptability for diverse analytical…

Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by…