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

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

Discovering and exploiting the causal structure in the environment is a crucial challenge for intelligent agents. Here we explore whether causal reasoning can emerge via meta-reinforcement learning. We train a recurrent network with…

This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to…

Causal inference, a cornerstone in disciplines such as economics, genomics, and medicine, is increasingly being recognized as fundamental to advancing the field of robotics. In particular, the ability to reason about cause and effect from…

In a robot-centered smart home, the robot observes the home states with its own sensors, and then it can change certain object states according to an operator's commands for remote operations, or imitate the operator's behaviors in the…

The deployment of reinforcement learning (RL) in the real world comes with challenges in calibrating user trust and expectations. As a step toward developing RL systems that are able to communicate their competencies, we present a method of…

Many production processes are characterized by numerous and complex cause-and-effect relationships. Since they are only partially known they pose a challenge to effective process control. In this work we present how Structural Equation…

Machine Learning (ML) has become an integral aspect of many real-world applications. As a result, the need for responsible machine learning has emerged, focusing on aligning ML models to ethical and social values, while enhancing their…

We describe basic ideas underlying research to build and understand artificially intelligent systems: from symbolic approaches via statistical learning to interventional models relying on concepts of causality. Some of the hard open…

Understanding causal relations is vital in scientific discovery. The process of causal structure learning involves identifying causal graphs from observational data to understand such relations. Usually, a central server performs this task,…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

We provide a rigorous definition of the visual cause of a behavior that is broadly applicable to the visually driven behavior in humans, animals, neurons, robots and other perceiving systems. Our framework generalizes standard accounts of…

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features…

Causal inference, estimating causal effects from observational data, is a fundamental tool in many disciplines. Of particular importance across a variety of domains is the continuous treatment setting, where the variable of intervention has…

Causal modeling provides us with powerful counterfactual reasoning and interventional mechanism to generate predictions and reason under various what-if scenarios. However, causal discovery using observation data remains a nontrivial task…

Learning accurate models of the physical world is required for a lot of robotic manipulation tasks. However, during manipulation, robots are expected to interact with unknown workpieces so that building predictive models which can…

An agent's actions can be influenced by external factors through the inputs it receives from the environment, as well as internal factors, such as memories or intrinsic preferences. The extent to which an agent's actions are "caused from…

Since the advent of autonomous driving technology, it has experienced remarkable progress over the last decade. However, most existing research still struggles to address the challenges posed by environments where multiple vehicles have to…