相关论文: COBRA-PPM: A Causal Bayesian Reasoning Architectur…

Manipulating unknown objects in a cluttered environment is difficult because segmentation of the scene into objects, that is, object composition is uncertain. Due to this uncertainty, earlier work has concentrated on either identifying the…

Causal discovery aims to learn causal relationships between variables from targeted data, making it a fundamental task in machine learning. However, causal discovery algorithms often rely on unverifiable causal assumptions, which are…

Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…

Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…

In recent years, learning-based control in robotics has gained significant attention due to its capability to address complex tasks in real-world environments. With the advances in machine learning algorithms and computational capabilities,…

Learning causal structure from sampled data is a fundamental problem with applications in various fields, including healthcare, machine learning and artificial intelligence. Traditional methods predominantly rely on observational data, but…

Modern machine learning (ML) methods typically fail to adequately capture causal information. Consequently, such models do not handle data distributional shifts, are vulnerable to adversarial examples, and often learn spurious correlations.…

Process Reward Models (PRMs) have shown promise in enhancing the mathematical reasoning capabilities of Large Language Models (LLMs) through Test-Time Scaling (TTS). However, their integration into multimodal reasoning remains largely…

This paper addresses task planning problems for language-instructed robot teams. Tasks are expressed in natural language (NL), requiring the robots to apply their capabilities at various locations and semantic objects. Several recent works…

This paper presents a scalable control algorithm that enables a deployed mobile robot system to make high-level decisions under full consideration of its probabilistic belief. Our approach is based on insights from the rich literature of…

This letter presents contact-safe Model-based Reinforcement Learning (MBRL) for robot applications that achieves contact-safe behaviors in the learning process. In typical MBRL, we cannot expect the data-driven model to generate accurate…

Data efficiency and robustness to task-irrelevant perturbations are long-standing challenges for deep reinforcement learning algorithms. Here we introduce a modular approach to addressing these challenges in a continuous control…

While the exact definition and implementation of accountability depend on the specific context, at its core accountability describes a mechanism that will make decisions transparent and often provides means to sanction "bad" decisions. As…

We present a distributed framework for predicting whether a planned reconfiguration step of a modular robot will mechanically overload the structure, causing it to break or lose stability under its own weight. The algorithm is executed by…

We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…

Estimating causal interactions in complex dynamical systems is an important problem encountered in many fields of current science. While a theoretical solution for detecting the causal interactions has been previously formulated in the…

Real-world decision-making problems are often marked by complex, uncertain dynamics that can shift or break under changing conditions. Traditional Model-Based Reinforcement Learning (MBRL) approaches learn predictive models of environment…

Deploying robots in human-shared environments requires a deep understanding of how nearby agents and objects interact. Employing causal inference to model cause-and-effect relationships facilitates the prediction of human behaviours and…

We study the problem of causal discovery through targeted interventions. Starting from few observational measurements, we follow a Bayesian active learning approach to perform those experiments which, in expectation with respect to the…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…