相关论文: ROPES: Robotic Pose Estimation via Score-Based Cau…

We introduce Consistent Assignment for Representation Learning (CARL), an unsupervised learning method to learn visual representations by combining ideas from self-supervised contrastive learning and deep clustering. By viewing contrastive…

State-of-the-art methods in generative representation learning yield semantic disentanglement, but typically do not consider physical scene parameters, such as geometry, albedo, lighting, or camera. We posit that inverse rendering, a way to…

Causal representation learning aims at identifying high-level causal variables from perceptual data. Most methods assume that all latent causal variables are captured in the high-dimensional observations. We instead consider a partially…

This paper studies the causal representation learning problem when the latent causal variables are observed indirectly through an unknown linear transformation. The objectives are: (i) recovering the unknown linear transformation (up to…

Parametric system identification methods estimate the parameters of explicitly defined physical systems from data. Yet, they remain constrained by the need to provide an explicit function space, typically through a predefined library of…

Recent deep reinforcement learning (DRL) successes rely on end-to-end learning from fixed-size observational inputs (e.g. image, state-variables). However, many challenging and interesting problems in decision making involve observations or…

The standard loss function used to train neural network classifiers, categorical cross-entropy (CCE), seeks to maximize accuracy on the training data; building useful representations is not a necessary byproduct of this objective. In this…

Integrating causal inference (CI) with reinforcement learning (RL) has emerged as a powerful paradigm to address critical limitations in classical RL, including low explainability, lack of robustness and generalization failures. Traditional…

This paper investigates robust representation learning in offline goal-conditioned reinforcement learning (GCRL). Particularly in sparse reward scenarios, learning representations that align state and goal latents is a challenge that…

Representation learning assumes that real-world data is generated by a few semantically meaningful generative factors (i.e., sources of variation) and aims to discover them in the latent space. These factors are expected to be causally…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

It is a long-standing question to discover causal relations among a set of variables in many empirical sciences. Recently, Reinforcement Learning (RL) has achieved promising results in causal discovery from observational data. However,…

We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by…

Causal Disentangled Representation Learning(CDRL) aims to learn and disentangle low dimensional representations and their underlying causal structure from observations. However, existing disentanglement methods rely on a standard mean-field…

Causal representation learning seeks to recover latent factors that generate observational data through a mixing function. Needing assumptions on latent structures or relationships to achieve identifiability in general, prior works often…

Video anomaly detection is an essential yet challenging task in the multimedia community, with promising applications in smart cities and secure communities. Existing methods attempt to learn abstract representations of regular events with…

The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

Causal models can compactly and efficiently encode the data-generating process under all interventions and hence may generalize better under changes in distribution. These models are often represented as Bayesian networks and learning them…

We study causal representation learning, the task of inferring latent causal variables and their causal relations from high-dimensional mixtures of the variables. Prior work relies on weak supervision, in the form of counterfactual pre- and…

In this paper, we are interested in the bottom-up paradigm of estimating human poses from an image. We study the dense keypoint regression framework that is previously inferior to the keypoint detection and grouping framework. Our…