相关论文: Structured Latent Variable Models for Articulated …

High-dimensional multivariate spatial-temporal data arise frequently in a wide range of applications; however, there are relatively few statistical methods that can simultaneously deal with spatial, temporal and variable-wise dependencies…

High-dimensional multivariate longitudinal data, which arise when many outcome variables are measured repeatedly over time, are becoming increasingly common in social, behavioral and health sciences. We propose a latent variable model for…

This article proposes a biologically inspired neurocomputational architecture which learns associations between words and referents in different contexts, considering evidence collected from the literature of Psycholinguistics and…

We consider the setting where a collection of time series, modeled as random processes, evolve in a causal manner, and one is interested in learning the graph governing the relationships of these processes. A special case of wide interest…

Adaptive cognition requires structured internal models of objects and their relations. Predictive neural networks are often proposed to learn such world models, but how these are instantiated and how they support prediction remain unclear.…

This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on various cabinet door opening tasks. To improve the performance…

For recurrent neural networks trained on time series with target and exogenous variables, in addition to accurate prediction, it is also desired to provide interpretable insights into the data. In this paper, we explore the structure of…

Predicting an interaction before it is fully executed is very important in applications such as human-robot interaction and video surveillance. In a two-human interaction scenario, there often contextual dependency structure between the…

We present a structured graph variational autoencoder for generating the layout of indoor 3D scenes. Given the room type (e.g., living room or library) and the room layout (e.g., room elements such as floor and walls), our architecture…

In this work, we propose a method for learning driver models that account for variables that cannot be observed directly. When trained on a synthetic dataset, our models are able to learn encodings for vehicle trajectories that distinguish…

Rather than simply recognizing the action of a person individually, collective activity recognition aims to find out what a group of people is acting in a collective scene. Previ- ous state-of-the-art methods using hand-crafted potentials…

Humans and animals have a rich and flexible understanding of the physical world, which enables them to infer the underlying dynamical trajectories of objects and events, plausible future states, and use that to plan and anticipate the…

Deep latent-variable models learn representations of high-dimensional data in an unsupervised manner. A number of recent efforts have focused on learning representations that disentangle statistically independent axes of variation by…

Latent variable models are an elegant framework for capturing rich probabilistic dependencies in many applications. However, current approaches typically parametrize these models using conditional probability tables, and learning relies…

Today's mobile robots are expected to operate in complex environments they share with humans. To allow intuitive human-robot collaboration, robots require a human-like understanding of their surroundings in terms of semantically classified…

How related are the representations learned by neural language models, translation models, and language tagging tasks? We answer this question by adapting an encoder-decoder transfer learning method from computer vision to investigate the…

Analyzing signals arising from dynamical systems typically requires many modeling assumptions and parameter estimation. In high dimensions, this modeling is particularly difficult due to the "curse of dimensionality". In this paper, we…

Predicting future scene representations is a crucial task for enabling robots to understand and interact with the environment. However, most existing methods rely on videos and simulations with precise action annotations, limiting their…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…

Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…