相关论文: Context-Based Echo State Networks with Prediction …

Several Convolutional Deep Learning models have been proposed to classify the cognitive states utilizing several neuro-imaging domains. These models have achieved significant results, but they are heavily designed with millions of…

Federated learning enables cooperative training among massively distributed clients by sharing their learned local model parameters. However, with increasing model size, deploying federated learning requires a large communication bandwidth,…

Neuro-symbolic learning (NSL) models complex symbolic rule patterns into latent variable distributions by neural networks, which reduces rule search space and generates unseen rules to improve downstream task performance. Centralized NSL…

Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…

We propose a novel Transformer-based architecture for the task of generative modelling of 3D human motion. Previous work commonly relies on RNN-based models considering shorter forecast horizons reaching a stationary and often implausible…

Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many existing approaches emphasize safety or efficiency while…

A physics-informed convolutional neural network is proposed to simulate two phase flow in porous media with time-varying well controls. While most of PICNNs in existing literatures worked on parameter-to-state mapping, our proposed network…

Analyzing spatio-temporal data like video is a challenging task that requires processing visual and temporal information effectively. Convolutional Neural Networks have shown promise as baseline fixed feature extractors through transfer…

Imitation learning considerably simplifies policy synthesis compared to alternative approaches by exploiting access to expert demonstrations. For such imitation policies, errors away from the training samples are particularly critical. Even…

We introduce a novel training principle for probabilistic models that is an alternative to maximum likelihood. The proposed Generative Stochastic Networks (GSN) framework is based on learning the transition operator of a Markov chain whose…

Human motion trajectory prediction is a very important functionality for human-robot collaboration, specifically in accompanying, guiding, or approaching tasks, but also in social robotics, self-driving vehicles, or security systems. In…

In recent years, Deep Reinforcement Learning has made impressive advances in solving several important benchmark problems for sequential decision making. Many control applications use a generic multilayer perceptron (MLP) for non-vision…

This paper presents a safe reinforcement learning system for automated driving that benefits from multimodal future trajectory predictions. We propose a safety system that consists of two safety components: a heuristic safety and a…

Convolutional neural networks with spatio-temporal 3D kernels (3D CNNs) have an ability to directly extract spatio-temporal features from videos for action recognition. Although the 3D kernels tend to overfit because of a large number of…

The scarcity of labeled action data poses a considerable challenge for developing machine learning algorithms for robotic object manipulation. It is expensive and often infeasible for a robot to interact with many objects. Conversely,…

Robots could learn their own state and world representation from perception and experience without supervision. This desirable goal is the main focus of our field of interest, state representation learning (SRL). Indeed, a compact…

Safe, reliable navigation in extreme, unfamiliar terrain is required for future robotic space exploration missions. Recent generative-AI methods learn semantically aware navigation policies from large, cross-embodiment datasets, but offer…

We analyze the performance of feedforward vs. recurrent neural network (RNN) architectures and associated training methods for learned frame prediction. To this effect, we trained a residual fully convolutional neural network (FCNN), a…

Network robustness is critical for various societal and industrial networks again malicious attacks. In particular, connectivity robustness and controllability robustness reflect how well a networked system can maintain its connectedness…

This paper introduces a novel proprioceptive state estimator for legged robots that combines model-based filters and deep neural networks. Recent studies have shown that neural networks such as multi-layer perceptron or recurrent neural…