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

Classical machine learning techniques often struggle with overfitting and unreliable predictions when exposed to novel conditions. Introducing causality into the modelling process offers a promising way to mitigate these challenges by…

Trajectory modeling refers to characterizing human movement behavior, serving as a pivotal step in understanding mobility patterns. Nevertheless, existing studies typically ignore the confounding effects of geospatial context, leading to…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

Robot failures in human-centered environments are inevitable. Therefore, the ability of robots to explain such failures is paramount for interacting with humans to increase trust and transparency. To achieve this skill, the main challenges…

Deep learning has revolutionized the field of artificial intelligence. Based on the statistical correlations uncovered by deep learning-based methods, computer vision has contributed to tremendous growth in areas like autonomous driving and…

We present CREST, an approach for causal reasoning in simulation to learn the relevant state space for a robot manipulation policy. Our approach conducts interventions using internal models, which are simulations with approximate dynamics…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…

We study the problem of using causal models to improve the rate at which good interventions can be learned online in a stochastic environment. Our formalism combines multi-arm bandits and causal inference to model a novel type of bandit…

Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…

Learning representations purely from observations concerns the problem of learning a low-dimensional, compact representation which is beneficial to prediction models. Under the hypothesis that the intrinsic latent factors follow some casual…

Imitation learning enables high-fidelity, vision-based learning of policies within rich, photorealistic environments. However, such techniques often rely on traditional discrete-time neural models and face difficulties in generalizing to…

The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…

One of the primary goals of Human-Robot Interaction (HRI) research is to develop robots that can interpret human behavior and adapt their responses accordingly. Adaptive learning models, such as continual and reinforcement learning, play a…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

Model-based methods have recently shown promising for offline reinforcement learning (RL), aiming to learn good policies from historical data without interacting with the environment. Previous model-based offline RL methods learn fully…

Causality has become a fundamental approach for explaining the relationships between events, phenomena, and outcomes in various fields of study. It has invaded various fields and applications, such as medicine, healthcare, economics,…

We study the problem of experiment design to learn causal structures from interventional data. We consider an active learning setting in which the experimenter decides to intervene on one of the variables in the system in each step and uses…

We investigate the effect of including domain knowledge about a robotic system's causal relations when generating explanations. To this end, we compare two methods from explainable artificial intelligence, the popular KernelSHAP and the…

Causal Models are increasingly suggested as a means to reason about the behavior of cyber-physical systems in socio-technical contexts. They allow us to analyze courses of events and reason about possible alternatives. Until now, however,…