相关论文: ProbRes: Probabilistic Jump Diffusion for Open-Wor…

Given a video captured from a first person perspective and the environment context of where the video is recorded, can we recognize what the person is doing and identify where the action occurs in the 3D space? We address this challenging…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

Object co-occurrences provide a key cue for finding objects successfully and efficiently in unfamiliar environments. Typically, one looks for cups in kitchens and views fridges as evidence of being in a kitchen. Such priors have also been…

Foundation models enable prompt-based classifiers for zero-shot and few-shot learning. Nonetheless, the conventional method of employing fixed prompts suffers from distributional shifts that negatively impact generalizability to unseen…

In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale…

We propose a machine-learning-based (ML-based) method for efficiently predicting atomic diffusivity in crystals, in which the potential energy surface (PES) of a diffusion carrier is partially evaluated by first-principles calculations. To…

Dynamical behaviors of complex interacting systems, including brain activities, financial price movements, and physical collective phenomena, are associated with underlying interactions between the system's components. The issue of…

The remarkable performance of deep neural networks depends on the availability of massive labeled data. To alleviate the load of data annotation, active deep learning aims to select a minimal set of training points to be labelled which…

Diffusion models have revolutionized imitation learning, allowing robots to replicate complex behaviours. However, diffusion often relies on cameras and other exteroceptive sensors to observe the environment and lacks long-term memory. In…

Naturalistic driving action localization task aims to recognize and comprehend human behaviors and actions from video data captured during real-world driving scenarios. Previous studies have shown great action localization performance by…

Human trajectory forecasting is a critical challenge in fields such as robotics and autonomous driving. Due to the inherent uncertainty of human actions and intentions in real-world scenarios, various unexpected occurrences may arise. To…

Cognitive maps play a crucial role in facilitating flexible behaviour by representing spatial and conceptual relationships within an environment. The ability to learn and infer the underlying structure of the environment is crucial for…

Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locating a person in distress. However the true information gained…

Autonomous robotic navigation in real-world environments requires exploration to acquire environmental information as well as goal-directed navigation in order to reach specified targets. Active inference (AIF) based on the free-energy…

Efficient exploration remains a challenging problem in reinforcement learning, especially for those tasks where rewards from environments are sparse. A commonly used approach for exploring such environments is to introduce some "intrinsic"…

Diffusion models have shown remarkable progress in various generative tasks such as image and video generation. This paper studies the problem of leveraging pretrained diffusion models for performing discriminative tasks. Specifically, we…

We present Prompt Diffusion, a framework for enabling in-context learning in diffusion-based generative models. Given a pair of task-specific example images, such as depth from/to image and scribble from/to image, and a text guidance, our…

"Looking for things" is a mundane but critical task we repeatedly carry on in our daily life. We introduce a method to develop a human character capable of searching for a randomly located target object in a detailed 3D scene using its…

Diffusion models have achieved remarkable success in high-fidelity image generation but remain computationally demanding due to their multi-step denoising process and large model sizes. Although prior work improves efficiency either by…

Recommender systems predict personalized item rankings based on user preference distributions derived from historical behavior data. Recently, diffusion models (DMs) have gained attention in recommendation for their ability to model complex…