相关论文: Symmetry and Complexity in Object-Centric Deep Act…

Equivariance is a powerful prior for learning physical dynamics, yet exact group equivariance can degrade performance if the symmetries are broken. We propose object-centric world models built with geometric algebra neural networks,…

Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…

We investigate active learning in the context of deep neural network models for change detection and map updating. Active learning is a natural choice for a number of remote sensing tasks, including the detection of local surface changes:…

Human perception is structured around objects which form the basis for our higher-level cognition and impressive systematic generalization abilities. Yet most work on representation learning focuses on feature learning without even…

Behavior prediction models have proliferated in recent years, especially in the popular real-world robotics application of autonomous driving, where representing the distribution over possible futures of moving agents is essential for safe…

Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…

In this paper, we propose and realize a new deep learning architecture for discovering symbolic representations for objects and their relations based on the self-supervised continuous interaction of a manipulator robot with multiple objects…

Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…

The ability to discover abstract physical concepts and understand how they work in the world through observing lies at the core of human intelligence. The acquisition of this ability is based on compositionally perceiving the environment in…

Automatically discovering composable abstractions from raw perceptual data is a long-standing challenge in machine learning. Recent slot-based neural networks that learn about objects in a self-supervised manner have made exciting progress…

Autonomous robots need to be able to adapt to unforeseen situations and to acquire new skills through trial and error. Reinforcement learning in principle offers a suitable methodological framework for this kind of autonomous learning.…

Human learning and intelligence work differently from the supervised pattern recognition approach adopted in most deep learning architectures. Humans seem to learn rich representations by exploration and imitation, build causal models of…

Understanding specifically where a model focuses on within an image is critical for human interpretability of the decision-making process. Deep learning-based solutions are prone to learning coincidental correlations in training datasets,…

Grasping is a complex process involving knowledge of the object, the surroundings, and of oneself. While humans are able to integrate and process all of the sensory information required for performing this task, equipping machines with this…

We develop an active inference route-planning method for the autonomous control of intelligent agents. The aim is to reconnoiter a geographical area to maintain a common operational picture. To achieve this, we construct an evidence map…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

This paper addresses the critical challenge of mesa-optimization in AI safety by providing a formal definition of agency and a framework for its analysis. Agency is conceptualized as a Continuous Representation of accumulated experience…

The perceived similarity between objects has often been attributed to their physical and conceptual features, such as appearance and animacy, and the theoretical framework of object space is accordingly conceived. Here, we extend this…

Learning object-centric representations from complex natural environments enables both humans and machines with reasoning abilities from low-level perceptual features. To capture compositional entities of the scene, we proposed cyclic walks…

We develop an approach for active semantic perception which refers to using the semantics of the scene for tasks such as exploration. We build a compact, hierarchical multi-layer scene graph that can represent large, complex indoor…