相关论文: Learning Low-Level Causal Relations using a Simula…

Autonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific…

Exploiting robots for activities in human-shared environments, whether warehouses, shopping centres or hospitals, calls for such robots to understand the underlying physical interactions between nearby agents and objects. In particular,…

Autonomous operations of robots in unknown environments are challenging due to the lack of knowledge of the dynamics of the interactions, such as the objects' movability. This work introduces a novel Causal Reinforcement Learning approach…

Structural causal models describe how the components of a robotic system interact. They provide both structural and functional information about the relationships that are present in the system. The structural information outlines the…

Generating explanations for reinforcement learning (RL) is challenging as actions may produce long-term effects on the future. In this paper, we develop a novel framework for explainable RL by learning a causal world model without prior…

Inducing causal relationships from observations is a classic problem in machine learning. Most work in causality starts from the premise that the causal variables themselves are observed. However, for AI agents such as robots trying to make…

Mathematical models are fundamental building blocks in the design of dynamical control systems. As control systems are becoming increasingly complex and networked, approaches for obtaining such models based on first principles reach their…

Prevalent theories in cognitive science propose that humans understand and represent the knowledge of the world through causal relationships. In making sense of the world, we build causal models in our mind to encode cause-effect relations…

Human beings learn causal models and constantly use them to transfer knowledge between similar environments. We use this intuition to design a transfer-learning framework using object-oriented representations to learn the causal…

Causal learning has long concerned itself with the accurate recovery of underlying causal mechanisms. Such causal modelling enables better explanations of out-of-distribution data. Prior works on causal learning assume that the high-level…

World modelling, i.e. building a representation of the rules that govern the world so as to predict its evolution, is an essential ability for any agent interacting with the physical world. Despite their impressive performance, many…

Research in Cognitive Science suggests that humans understand and represent knowledge of the world through causal relationships. In addition to observations, they can rely on experimenting and counterfactual reasoning -- i.e. referring to…

Despite the recent progress in deep learning and reinforcement learning, transfer and generalization of skills learned on specific tasks is very limited compared to human (or animal) intelligence. The lifelong, incremental building of…

Learning from demonstrations (LfD) is an efficient paradigm to train AI agents. But major issues arise when there are differences between (a) the demonstrator's own sensory input, (b) our sensors that observe the demonstrator and (c) the…

This paper introduces an algorithm for discovering implicit and delayed causal relations between events observed by a robot at arbitrary times, with the objective of improving data-efficiency and interpretability of model-based…

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…

Animals exhibit an innate ability to learn regularities of the world through interaction. By performing experiments in their environment, they are able to discern the causal factors of variation and infer how they affect the world's…

Modeling spatial-temporal interactions among neighboring agents is at the heart of multi-agent problems such as motion forecasting and crowd navigation. Despite notable progress, it remains unclear to which extent modern representations can…

Many reinforcement learning (RL) environments consist of independent entities that interact sparsely. In such environments, RL agents have only limited influence over other entities in any particular situation. Our idea in this work is that…

Autonomous robots must communicate about their decisions to gain trust and acceptance. When doing so, robots must determine which actions are causal, i.e., which directly give rise to the desired outcome, so that these actions can be…