相关论文: Active Neural Mapping

The creation of machine learning algorithms for intelligent agents capable of continuous, lifelong learning is a critical objective for algorithms being deployed on real-life systems in dynamic environments. Here we present an algorithm…

We present an approach for agents to learn representations of a global map from sensor data, to aid their exploration in new environments. To achieve this, we embed procedures mimicking that of traditional Simultaneous Localization and…

Active learning is a unique abstraction of machine learning techniques where the model/algorithm could guide users for annotation of a set of data points that would be beneficial to the model, unlike passive machine learning. The primary…

We propose a novel approach for deformation-aware neural networks that learn the weighting and synthesis of dense volumetric deformation fields. Our method specifically targets the space-time representation of physical surfaces from liquid…

Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…

Neural rendering with implicit neural networks has recently emerged as an attractive proposition for scene reconstruction, achieving excellent quality albeit at high computational cost. While the most recent generation of such methods has…

Constructing and maintaining a consistent scene model on-the-fly is the core task for online spatial perception, interpretation, and action. In this paper, we represent the scene with a Bayesian nonparametric mixture model, seamlessly…

Humans have a strong intuitive understanding of the 3D environment around us. The mental model of the physics in our brain applies to objects of different materials and enables us to perform a wide range of manipulation tasks that are far…

Forecasting 3D human motion is an important embodiment of fine-grained understanding and cognition of human behavior by artificial agents. Current approaches excessively rely on implicit network modeling of spatiotemporal relationships and…

Bayesian inference for neural networks, or Bayesian deep learning, has the potential to provide well-calibrated predictions with quantified uncertainty and robustness. However, the main hurdle for Bayesian deep learning is its computational…

We present a new approach for nonlinear dimensionality reduction, specifically designed for computationally expensive mathematical models. We leverage autoencoders to discover a one-dimensional neural active manifold (NeurAM) capturing the…

We propose a new active learning approach for efficiently estimating the geographic range of a species from a limited number of on the ground observations. We model the range of an unmapped species of interest as the weighted combination of…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Neural-network classifiers achieve high accuracy when predicting the class of an input that they were trained to identify. Maintaining this accuracy in dynamic environments, where inputs frequently fall outside the fixed set of initially…

Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an active semantic mapping framework designed to predict the…

Self-sustained, elevated neuronal activity persisting on time scales of ten seconds or longer is thought to be vital for aspects of working memory, including brain representations of real space. Continuous-attractor neural networks, one of…

Humans navigate in their environment by learning a mental model of the world through passive observation and active interaction. Their world model allows them to anticipate what might happen next and act accordingly with respect to an…

Safe and efficient robot operation in complex human environments can benefit from good models of site-specific motion patterns. Maps of Dynamics (MoDs) provide such models by encoding statistical motion patterns in a map, but existing…

Machine-learning force fields enable an accurate and universal description of the potential energy surface of molecules and materials on the basis of a training set of ab initio data. However, large-scale applications of these methods rest…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…