相关论文: Deep Active Inference with Diffusion Policy and Mu…

Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when updates drift off the training manifold. We propose Fisher…

Obtaining labels can be costly and time-consuming. Active learning allows a learning algorithm to intelligently query samples to be labeled for efficient learning. Fisher information ratio (FIR) has been used as an objective for selecting…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

We constructed a computational model of the driver's brain for steering tasks using the active inference framework, grounded in the free energy principle - a theory from computational neuroscience. This model enables quantitative estimation…

We present the design of an autoregressive active inference agent in the form of message passing on a factor graph. Expected free energy is derived and distributed across a planning graph. The proposed agent is validated on a robot…

Diffusion models have become a leading paradigm for image super-resolution (SR), but existing methods struggle to guarantee both the high-frequency perceptual quality and the low-frequency structural fidelity of generated images. Although…

While diffusion models can successfully generate data and make predictions, they are predominantly designed for static images. We propose an approach for efficiently training diffusion models for probabilistic spatiotemporal forecasting,…

The Object Navigation (ObjectNav) task aims to guide an agent to locate target objects in unseen environments using partial observations. Prior approaches have employed location prediction paradigms to achieve long-term goal reasoning, yet…

Real-world artificial intelligence (AI) systems are increasingly required to operate autonomously in dynamic, uncertain, and continuously changing environments. However, most existing AI models rely on predefined objectives, static training…

We introduce a novel deep learning approach that harnesses the power of generative artificial intelligence to enhance the accuracy of contextual forecasting in sewerage systems. By developing a diffusion-based model that processes…

Robotic manipulation in high-precision tasks is essential for numerous industrial and real-world applications where accuracy and speed are required. Yet current diffusion-based policy learning methods generally suffer from low computational…

Image classification serves as the cornerstone of computer vision, traditionally achieved through discriminative models based on deep neural networks. Recent advancements have introduced classification methods derived from generative…

Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…

Unlike most reinforcement learning agents which require an unrealistic amount of environment interactions to learn a new behaviour, humans excel at learning quickly by merely observing and imitating others. This ability highly depends on…

A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the free energy principle in computational neuroscience, to…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Diffusion-based world models have demonstrated strong capabilities in synthesizing realistic long-horizon trajectories for offline reinforcement learning (RL). However, many existing methods do not directly generate actions alongside states…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

We introduce DeepFleet, a suite of foundation models designed to support coordination and planning for large-scale mobile robot fleets. These models are trained on fleet movement data, including robot positions, goals, and interactions,…

Over the past four decades, efforts have been made to develop and evaluate models for Empirical Translation Process Research (TPR), yet a comprehensive framework remains elusive. This article traces the evolution of empirical TPR within the…