相关论文: Structured Latent Variable Models for Articulated …

Intelligent agents can learn to represent the action spaces of other agents simply by observing them act. Such representations help agents quickly learn to predict the effects of their own actions on the environment and to plan complex…

A powerful and flexible approach to structured prediction consists in embedding the structured objects to be predicted into a feature space of possibly infinite dimension by means of output kernels, and then, solving a regression problem in…

A key goal of unsupervised learning is to go beyond density estimation and sample generation to reveal the structure inherent within observed data. Such structure can be expressed in the pattern of interactions between explanatory latent…

Learning identifiable representations and models from low-level observations is helpful for an intelligent spacecraft to complete downstream tasks reliably. For temporal observations, to ensure that the data generating process is provably…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

We propose a new family of neural networks to predict the behaviors of physical systems by learning their underpinning constraints. A neural projection operator lies at the heart of our approach, composed of a lightweight network with an…

A key obstacle in automated analytics and meta-learning is the inability to recognize when different datasets contain measurements of the same variable. Because provided attribute labels are often uninformative in practice, this task may be…

Learning world models from their sensory inputs enables agents to plan for actions by imagining their future outcomes. World models have previously been shown to improve sample-efficiency in simulated environments with few objects, but have…

In this note we present a generative model of natural images consisting of a deep hierarchy of layers of latent random variables, each of which follows a new type of distribution that we call rectified Gaussian. These rectified Gaussian…

Constrained objects, such as doors and drawers are often complex and share a similar structure in the human environment. A robot needs to interact accurately with constrained objects to safely and successfully complete a task. Learning from…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

Predicting future frames of a video sequence has been a problem of high interest in the field of Computer Vision as it caters to a multitude of applications. The ability to predict, anticipate and reason about future events is the essence…

Virtualizing the physical world into virtual models has been a critical technique for robot navigation and planning in the real world. To foster manipulation with articulated objects in everyday life, this work explores building…

Successful Human-Robot collaboration requires a predictive model of human behavior. The robot needs to be able to recognize current goals and actions and to predict future activities in a given context. However, the spatio-temporal sequence…

In this paper, we propose a novel end-to-end architecture that could generate a variety of plausible video sequences correlating two given discontinuous frames. Our work is inspired by the human ability of inference. Specifically, given two…

A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…

Neural population activity relating to behaviour is assumed to be inherently low-dimensional despite the observed high dimensionality of data recorded using multi-electrode arrays. Therefore, predicting behaviour from neural population…

We propose a principle for exploring context in machine learning models. Starting with a simple assumption that each observation may or may not depend on its context, a conditional probability distribution is decomposed into two parts:…

We apply recent advances in machine learning and computer vision to a central problem in materials informatics: The statistical representation of microstructural images. We use activations in a pre-trained convolutional neural network to…

A deep latent variable model is a powerful method for capturing complex distributions. These models assume that underlying structures, but unobserved, are present within the data. In this dissertation, we explore high-dimensional problems…