相关论文: Working Paper: Active Causal Structure Learning wi…

Producing an artificial general intelligence (AGI) has been an elusive goal in artificial intelligence (AI) research for some time. An AGI would have the capability, like a human, to be exposed to a new problem domain, learn about it and…

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…

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…

We present two online causal structure learning algorithms which can track changes in a causal structure and process data in a dynamic real-time manner. Standard causal structure learning algorithms assume that causal structure does not…

Inferring causal relationships from observed data is an important task, yet it becomes challenging when the data is subject to various external interferences. Most of these interferences are the additional effects of external factors on…

Visual Language Navigation is a task that challenges robots to navigate in realistic environments based on natural language instructions. While previous research has largely focused on static settings, real-world navigation must often…

The aim of my Ph.D. thesis concerns Reasoning in Highly Reactive Environments. As reasoning in highly reactive environments, we identify the setting in which a knowledge-based agent, with given goals, is deployed in an environment subject…

Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then…

This paper introduces Adversarial Resilience Learning (ARL), a concept to model, train, and analyze artificial neural networks as representations of competitive agents in highly complex systems. In our examples, the agents normally take the…

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…

Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…

Extracting abstract causal structures and applying them to novel situations is a hallmark of human intelligence. While Large Language Models (LLMs) and Vision Language Models (VLMs) have shown strong performance on a wide range of reasoning…

For robots to perform assistive tasks in unstructured home environments, they must learn and reason on the semantic knowledge of the environments. Despite a resurgence in the development of semantic reasoning architectures, these methods…

Properties of data are frequently seen to vary depending on the sampled situations, which usually changes along a time evolution or owing to environmental effects. One way to analyze such data is to find invariances, or representative…

Causal representation learning seeks to uncover causal relationships among high-level latent variables from low-level, entangled, and noisy observations. Existing approaches often either rely on deep neural networks, which lack…

As machine learning systems become more powerful they also become increasingly unpredictable and opaque. Yet, finding human-understandable explanations of how they work is essential for their safe deployment. This technical report…

Active learning agents typically employ a query selection algorithm which solely considers the agent's learning objectives. However, this may be insufficient in more realistic human domains. This work uses imitation learning to enable an…

Causal learning allows humans to predict the effect of their actions on the known environment and use this knowledge to plan the execution of more complex actions. Such knowledge also captures the behaviour of the environment and can be…

This paper studies the causal representation learning problem when the latent causal variables are observed indirectly through an unknown linear transformation. The objectives are: (i) recovering the unknown linear transformation (up to…

Interactive robot learning is a challenging problem as the robot is present with human users who expect the robot to learn novel skills to solve novel tasks perpetually with sample efficiency. In this work we present a framework for robots…