相关论文: Measuring Goal-Directedness

We present a new algorithm for inverting poorly resolved gravitational lens systems using the maximum entropy method (MEM). We test the method with simulations and then apply it to an 8 GHz VLA map of the radio ring lens MG1654+134. We…

Reinforcement Learning algorithms are primarily focused on learning a policy that maximizes expected return. As a result, the learned policy can exploit one or few reward sources. However, in many natural situations, it is desirable to…

We investigate causal inference in the asymptotic regime as the number of variables approaches infinity using an information-theoretic framework. We define structural entropy of a causal model in terms of its description complexity measured…

We introduce a goal-oriented strategy for multiscale computations performed using the Multiscale Finite Element Method (MsFEM). In a previous work, we have shown how to use, in the MsFEM framework, the concept of Constitutive Relation Error…

A novel accelerated mobile edge generation (MEG) framework is proposed for generating high-resolution images on mobile devices. Exploiting a large-scale latent diffusion model (LDM) distributed across edge server (ES) and user equipment…

We pose an active perception problem where an autonomous agent actively interacts with a second agent with potentially adversarial behaviors. Given the uncertainty in the intent of the other agent, the objective is to collect further…

Maximum entropy models provide the least constrained probability distributions that reproduce statistical properties of experimental datasets. In this work we characterize the learning dynamics that maximizes the log-likelihood in the case…

Animals execute goal-directed behaviours despite the limited range and scope of their sensors. To cope, they explore environments and store memories maintaining estimates of important information that is not presently available. Recently,…

While end-to-end autonomous driving has achieved remarkable progress in geometric control, current systems remain constrained by a command-following paradigm that relies on simple navigational instructions. Transitioning to genuinely…

It is a very challenging task to identify the objectives on which a certain decision was based, in particular if several, potentially conflicting criteria are equally important and a continuous set of optimal compromise decisions exists.…

In many settings (e.g., robotics) demonstrations provide a natural way to specify tasks; however, most methods for learning from demonstrations either do not provide guarantees that the artifacts learned for the tasks, such as rewards or…

We present a novel approach to tackle explainability of deep graph networks in the context of molecule property prediction tasks, named MEG (Molecular Explanation Generator). We generate informative counterfactual explanations for a…

The goal of causal discovery is to learn a directed acyclic graph from data. One of the most well-known methods for this problem is Greedy Equivalence Search (GES). GES searches for the graph by incrementally and greedily adding or removing…

Aligning robot behavior with human preferences is crucial for deploying embodied AI agents in human-centered environments. A promising solution is interactive imitation learning from human intervention, where a human expert observes the…

Many control problems in environments that can be modeled as Markov decision processes (MDPs) concern infinite-time horizon specifications. The classical aim in this context is to compute a control policy that maximizes the probability of…

Inverse reinforcement learning is the problem of inferring a reward function from an optimal policy or demonstrations by an expert. In this work, it is assumed that the reward is expressed as a reward machine whose transitions depend on…

In many complex dynamical systems, artificial or natural, one can observe self-organization of patterns emerging from local rules. Cellular automata, like the Game of Life (GOL), have been widely used as abstract models enabling the study…

As deep learning applications are becoming more and more pervasive in robotics, the question of evaluating the reliability of inferences becomes a central question in the robotics community. This domain, known as predictive uncertainty, has…

Over the last few years, the concept of Artificial Intelligence has become central in different tasks concerning both our daily life and several working scenarios. Among these tasks automated planning has always been central in the AI…

We typically construct optimal designs based on a single objective function. To better capture the breadth of an experiment's goals, we could instead construct a multiple objective optimal design based on multiple objective functions. While…