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

Multimodal Large Language Models (MLLMs) have shown strong performance on Video Temporal Grounding (VTG). However, their coarse recognition capabilities are insufficient for fine-grained temporal understanding, making task-specific…

Human activity recognition is typically addressed by detecting key concepts like global and local motion, features related to object classes present in the scene, as well as features related to the global context. The next open challenges…

Vision systems to see and reason about the compositional nature of visual scenes are fundamental to understanding our world. The complex relations between objects and their locations, ambiguities, and variations in the real-world…

Human perception involves decomposing complex multi-object scenes into time-static object appearance (i.e., size, shape, color) and time-varying object motion (i.e., position, velocity, acceleration). For machines to achieve human-like…

Physical intuition is pivotal for intelligent agents to perform complex tasks. In this paper we investigate the passive acquisition of an intuitive understanding of physical principles as well as the active utilisation of this intuition in…

As autonomous systems are increasingly deployed in open and uncertain settings, there is a growing need for trustworthy world models that can reliably predict future high-dimensional observations. The learned latent representations in world…

Modeling brain dynamics to better understand and control complex behaviors underlying various cognitive brain functions are of interests to engineers, mathematicians, and physicists from the last several decades. With a motivation of…

Persistent monitoring of a spatiotemporal fluid process requires data sampling and predictive modeling of the process being monitored. In this paper we present PASST algorithm: Predictive-model based Adaptive Sampling of a Spatio-Temporal…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate…

Objects' motions in nature are governed by complex interactions and their properties. While some properties, such as shape and material, can be identified via the object's visual appearances, others like mass and electric charge are not…

Simulating particle dynamics with high fidelity is crucial for solving real-world interaction and control tasks involving liquids in design, graphics, and robotics. Recently, data-driven approaches, particularly those based on graph neural…

Causal representation learning has showed a variety of settings in which we can disentangle latent variables with identifiability guarantees (up to some reasonable equivalence class). Common to all of these approaches is the assumption that…

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. In this work, we…

Identifying the main features and learning the causal relationships of a dynamic system from time-series of sensor data are key problems in many real-world robot applications. In this paper, we propose an extension of a state-of-the-art…

Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…

Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…

We suggest a mechanism based on spike time dependent plasticity (STDP) of synapses to store, retrieve and predict temporal sequences. The mechanism is demonstrated in a model system of simplified integrate-and-fire type neurons densely…

Accurate prediction of physical interaction outcomes is a crucial component of human intelligence and is important for safe and efficient deployments of robots in the real world. While there are existing vision-based intuitive physics…

Humans are remarkably good at understanding and reasoning about complex visual scenes. The capability to decompose low-level observations into discrete objects allows us to build a grounded abstract representation and identify the…