相关论文: A Generalizable Physics-guided Causal Model for Tr…

Context-Aware Emotion Recognition (CAER) is a crucial and challenging task that aims to perceive the emotional states of the target person with contextual information. Recent approaches invariably focus on designing sophisticated…

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…

Contrastive Language-Image Pretraining (CLIP) has achieved remarkable success, but its performance can degrade when fine-tuned in out-of-distribution (OOD) scenarios. We model the prediction process using a Structural Causal Model (SCM) and…

Causal generative modeling is essential for developing reliable and transparent AI systems capable of counterfactual reasoning. While existing approaches focus on integrating causal constraints during the training of generative models, they…

Structural Causal Models (SCMs) offer a principled framework to reason about interventions and support out-of-distribution generalization, which are key goals in scientific discovery. However, the task of learning SCMs from observed data…

Vision-based autonomous urban driving in dense traffic is quite challenging due to the complicated urban environment and the dynamics of the driving behaviors. Widely-applied methods either heavily rely on hand-crafted rules or learn from…

The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…

Robotic foundation models, or generalist robot policies, hold immense potential to enable flexible, general-purpose and dexterous robotic systems. Despite their advancements, our empirical experiments reveal that existing robot policies are…

Causal structure learning with data from multiple contexts carries both opportunities and challenges. Opportunities arise from considering shared and context-specific causal graphs enabling to generalize and transfer causal knowledge across…

In autonomous driving, accurately interpreting the movements of other road users and leveraging this knowledge to forecast future trajectories is crucial. This is typically achieved through the integration of map data and tracked…

Recent advances in motion diffusion models have substantially improved the realism of human motion synthesis. However, existing approaches either rely on full-sequence diffusion models with bidirectional generation, which limits temporal…

Learning accurate models of the physical world is required for a lot of robotic manipulation tasks. However, during manipulation, robots are expected to interact with unknown workpieces so that building predictive models which can…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

We propose a general way to integrate procedural knowledge of a domain into deep learning models. We apply it to the case of video prediction, building on top of object-centric deep models and show that this leads to a better performance…

In the sequential decision making setting, an agent aims to achieve systematic generalization over a large, possibly infinite, set of environments. Such environments are modeled as discrete Markov decision processes with both states and…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…

Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…