相关论文: Generative Skill Chaining: Long-Horizon Skill Plan…

Despite growing interest in active inference for robotic control, its application to complex, long-horizon tasks remains untested. We address this gap by introducing a fully hierarchical active inference architecture for goal-directed…

Humans often think of complex tasks as combinations of simpler subtasks in order to learn those complex tasks more efficiently. For example, a backflip could be considered a combination of four subskills: jumping, tucking knees, rolling…

Seismic data processing involves techniques to deal with undesired effects that occur during acquisition and pre-processing. These effects mainly comprise coherent artefacts such as multiples, non-coherent signals such as electrical noise,…

It is difficult to anticipate the myriad challenges that a predictive model will encounter once deployed. Common practice entails a reactive, cyclical approach: model deployment, data mining, and retraining. We instead develop a proactive…

Symbolic planning is a powerful technique to solve complex tasks that require long sequences of actions and can equip an intelligent agent with complex behavior. The downside of this approach is the necessity for suitable symbolic…

Learning natural and diverse behaviors from human motion datasets remains challenging in physics-based character control. Existing conditional adversarial models often suffer from tight and biased embedding distributions where embeddings…

Recent advances in robot skill learning have unlocked the potential to construct task-agnostic skill libraries, facilitating the seamless sequencing of multiple simple manipulation primitives (aka. skills) to tackle significantly more…

Optimization is crucial for MEC networks to function efficiently and reliably, most of which are NP-hard and lack efficient approximation algorithms. This leads to a paucity of optimal solution, constraining the effectiveness of…

For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion Planning approaches assume full observability of their state…

Using evolutionary computation algorithms to solve multiple tasks with knowledge sharing is a promising approach. Image feature learning can be considered as a multitask problem because different tasks may have a similar feature space.…

Geo-distributed computing, a paradigm that assigns computational tasks to globally distributed nodes, has emerged as a promising approach in cloud computing, edge computing, cloud-edge computing and supercomputer computing (HPC). It enables…

We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by…

We present Diffuse-CLoC, a guided diffusion framework for physics-based look-ahead control that enables intuitive, steerable, and physically realistic motion generation. While existing kinematics motion generation with diffusion models…

Diffusion models are a class of generative models that have demonstrated remarkable success in tasks such as image generation. However, one of the bottlenecks of these models is slow sampling due to the delay before the onset of trajectory…

We present a differentiable framework capable of learning a wide variety of compositions of simple policies that we call skills. By recursively composing skills with themselves, we can create hierarchies that display complex behavior. Skill…

Graph clustering, a classical task in graph learning, involves partitioning the nodes of a graph into distinct clusters. This task has applications in various real-world scenarios, such as anomaly detection, social network analysis, and…

A scalable graphical method is presented for selecting, and partitioning datasets for the training phase of a classification task. For the heuristic, a clustering algorithm is required to get its computation cost in a reasonable proportion…

Achieving state-of-the-art performance on natural language understanding tasks typically relies on fine-tuning a fresh model for every task. Consequently, this approach leads to a higher overall parameter cost, along with higher technical…

Stochastic forecasting is critical for efficient decision-making in uncertain systems, such as energy markets and finance, where estimating the full distribution of future scenarios is essential. We propose Diffusion Scenario Tree (DST), a…

Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…