相关论文: SlotPi: Physics-informed Object-centric Reasoning …

We demonstrate model-based, visual robot manipulation of linear deformable objects. Our approach is based on a state-space representation of the physical system that the robot aims to control. This choice has multiple advantages, including…

Standard Chain-of-Thought (CoT) prompting empowers Large Language Models (LLMs) with reasoning capabilities, yet its reliance on linear natural language is inherently insufficient for effective world modeling in embodied tasks. While text…

Autonomous intelligent agents must bridge computational challenges at disparate levels of abstraction, from the low-level spaces of sensory input and motor commands to the high-level domain of abstract reasoning and planning. A key question…

Recently, world models have been incorporated into the autonomous driving systems to improve the planning reliability. Existing approaches typically predict future states through appearance generation or deterministic regression, which…

Modular object-centric representations are essential for *human-like reasoning* but are challenging to obtain under spatial ambiguities, *e.g. due to occlusions and view ambiguities*. However, addressing challenges presents both theoretical…

We present GATSBI, a generative model that can transform a sequence of raw observations into a structured latent representation that fully captures the spatio-temporal context of the agent's actions. In vision-based decision-making…

Object-centric learning (OCL) aims to learn representations of individual objects within visual scenes without manual supervision, facilitating efficient and effective visual reasoning. Traditional OCL methods primarily employ bottom-up…

Knowledge about space and time is necessary to solve problems in the physical world: An AI agent situated in the physical world and interacting with objects often needs to reason about positions of and relations between objects; and as soon…

Autonomous vehicles need to model the behavior of surrounding human driven vehicles to be safe and efficient traffic participants. Existing approaches to modeling human driving behavior have relied on both data-driven and rule-based…

Pre-trained on tremendous image-text pairs, vision-language models like CLIP have demonstrated promising zero-shot generalization across numerous image-based tasks. However, extending these capabilities to video tasks remains challenging…

Recent advances at the intersection of control theory, neuroscience, and machine learning have revealed novel mechanisms by which dynamical systems perform computation. These advances encompass a wide range of conceptual, mathematical, and…

Common-sense physical reasoning in the real world requires learning about the interactions of objects and their dynamics. The notion of an abstract object, however, encompasses a wide variety of physical objects that differ greatly in terms…

High-fidelity physics simulation is essential for scalable robotic learning, but the sim-to-real gap persists, especially for tasks involving complex, dynamic, and discontinuous interactions like physical contacts. Explicit system…

Modeling wind-driven object dynamics from video observations is highly challenging due to the invisibility and spatio-temporal variability of wind, as well as the complex deformations of objects. We present DiffWind, a physics-informed…

Learning to control high-speed objects in dynamic environments represents a fundamental challenge in robotics. Table tennis serves as an ideal testbed for advancing robotic capabilities in dynamic environments. This task presents two…

Consider briefly the equations of fluid dynamics-they describe the enormous wealth of detail in all the interacting physical elements of a fluid flow-whereas in applications we want to deal with a description of just that which is…

World models, which explicitly learn environmental dynamics to lay the foundation for planning, reasoning, and decision-making, are rapidly advancing in predicting both physical dynamics and aspects of social behavior, yet predominantly in…

Human visual reasoning is characterized by an ability to identify abstract patterns from only a small number of examples, and to systematically generalize those patterns to novel inputs. This capacity depends in large part on our ability to…

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…

Building models of the world from observation, i.e., induction, is one of the major challenges in machine learning. In order to be useful, models need to maintain accuracy when used in novel situations, i.e., generalize. In addition, they…