相关论文: Deep Probabilistic Movement Primitives with a Baye…

Probabilistic models are a critical part of the modern deep learning toolbox - ranging from generative models (VAEs, GANs), sequence to sequence models used in machine translation and speech processing to models over functional spaces…

Probabilistic neural networks are typically modeled with independent weight priors, which do not capture weight correlations in the prior and do not provide a parsimonious interface to express properties in function space. A desirable class…

Deep neural networks excel at function approximation, yet they are typically trained from scratch for each new function. On the other hand, Bayesian methods, such as Gaussian Processes (GPs), exploit prior knowledge to quickly infer the…

In an attempt to confer robots with complex manipulation capabilities, dual-arm anthropomorphic systems have become an important research topic in the robotics community. Most approaches in the literature rely upon a great understanding of…

We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on…

In this paper, we propose a Bayesian switching dynamical model for segmentation of 3D pose data over time that uncovers interpretable patterns in the data and is generative. Our model decomposes highly correlated skeleton data into a set of…

Many disciplines need quantitative models that synthesize experimental data across multiple instances of the same general system. For example, neuroscientists must combine data from the brains of many individual animals to understand the…

Layered architectures have been widely used in robot systems. The majority of them implement planning and execution functions in separate layers. However, there still lacks a straightforward way to transit high-level tasks in the planning…

A challenge for practitioners of Bayesian inference is specifying a model that incorporates multiple relevant, heterogeneous data sets. It may be easier to instead specify distinct submodels for each source of data, then join the submodels…

We investigate deep morphological neural networks (DMNNs). We demonstrate that despite their inherent non-linearity, "linear" activations are essential for DMNNs. To preserve their inherent sparsity, we propose architectures that constraint…

We present a Bayesian machine learning architecture that combines a physically motivated parametrization and an analytic error model for the likelihood with a deep generative model providing a powerful data-driven prior for complex signals.…

In many statistical problems, a more coarse-grained model may be suitable for population-level behaviour, whereas a more detailed model is appropriate for accurate modelling of individual behaviour. This raises the question of how to…

Simulator-based models are models for which the likelihood is intractable but simulation of synthetic data is possible. They are often used to describe complex real-world phenomena, and as such can often be misspecified in practice.…

Many statistical problems include model parameters that are defined as the solutions to optimization sub-problems. These include classical approaches such as profile likelihood as well as modern applications involving flow networks or…

Understanding real-world dynamical phenomena remains a challenging task. Across various scientific disciplines, machine learning has advanced as the go-to technology to analyze nonlinear dynamical systems, identify patterns in big data, and…

This paper proposes a novel generative video compression framework that leverages motion pattern priors, derived from subtle dynamics in common scenes (e.g., swaying flowers or a boat drifting on water), rather than relying on video content…

Extended object tracking methods based on random matrices, founded on Bayesian filters, have been able to achieve efficient recursive processes while jointly estimating the kinematic states and extension of the targets. Existing random…

We propose an interdisciplinary framework that combines Bayesian predictive inference, a well-established tool in Machine Learning, with Formal Methods rooted in the computer science community. Bayesian predictive inference allows for…

Matrix completion and robust principal component analysis have been widely used for the recovery of data suffering from missing entries or outliers. In many real-world applications however, the data is also time-varying, and the naive…

We consider a prior for nonparametric Bayesian estimation which uses finite random series with a random number of terms. The prior is constructed through distributions on the number of basis functions and the associated coefficients. We…