相关论文: Context-dependent manifold learning: A neuromodula…

Tracking a target in cluttered and dynamic environments is challenging but forms a core component in applications like aerial cinematography. The obstacles in the environment not only pose collision risk but can also occlude the target from…

We study a simple unsupervised regularization scheme for autoencoders called Manifold-Matching (MMAE): we align the pairwise distances in the latent space to those of the input data space by minimizing mean squared error. Because alignment…

Stability guarantees are crucial when ensuring a fully autonomous robot does not take undesirable or potentially harmful actions. Unfortunately, global stability guarantees are hard to provide in dynamical systems learned from data,…

We present a new data-driven model to reconstruct nonlinear flow from spatially sparse observations. The model is a version of a conditional variational auto-encoder (CVAE), which allows for probabilistic reconstruction and thus uncertainty…

Recently, transformers have shown promising performance in learning graph representations. However, there are still some challenges when applying transformers to real-world scenarios due to the fact that deep transformers are hard to train…

We introduce the variational graph auto-encoder (VGAE), a framework for unsupervised learning on graph-structured data based on the variational auto-encoder (VAE). This model makes use of latent variables and is capable of learning…

Forecasting short-term motion of nearby vehicles presents an inherently challenging issue as the space of their possible future movements is not strictly limited to a set of single trajectories. Recently proposed techniques that demonstrate…

Human infant learning happens during exploration of the environment, by interaction with objects, and by listening to and repeating utterances casually, which is analogous to unsupervised learning. Only occasionally, a learning infant would…

The connection between Residual Neural Networks (ResNets) and continuous-time control systems (known as NeurODEs) has led to a mathematical analysis of neural networks which has provided interesting results of both theoretical and practical…

Detecting navigable space is the first and also a critical step for successful robot navigation. In this work, we treat the visual navigable space segmentation as a scene decomposition problem and propose a new network, NSS-VAEs (Navigable…

Variational autoencoders (VAEs) combine latent variables with amortized variational inference, whose optimization usually converges into a trivial local optimum termed posterior collapse, especially in text modeling. By tracking the…

Motion prediction is critical for autonomous vehicles to effectively navigate complex environments and accurately anticipate the behaviors of other traffic participants. As autonomous driving continues to evolve, the need to assimilate new…

Pre-trained language models have achieved promising performance on general benchmarks, but underperform when migrated to a specific domain. Recent works perform pre-training from scratch or continual pre-training on domain corpora. However,…

Unsupervised industrial anomaly detection requires accurately identifying defects without labeled data. Traditional autoencoder-based methods often struggle with incomplete anomaly suppression and loss of fine details, as their single-pass…

Visual navigation requires agents to reach goals in complex environments through perception and planning. World models address this task by simulating action-conditioned state transitions to predict future observations. Current navigation…

We incorporate prior graph topology information into a Neural Controlled Differential Equation (NCDE) to predict the future states of a dynamical system defined on a graph. The informed NCDE infers the future dynamics at the vertices of…

Equivariant neural networks are designed to respect symmetries through their architecture, boosting generalization and sample efficiency when those symmetries are present in the data distribution. Real-world data, however, often departs…

As deep Variational Auto-Encoder (VAE) frameworks become more widely used for modeling biomolecular simulation data, we emphasize the capability of the VAE architecture to concurrently maximize the timescale of the latent space while…

I present a Variational Autoencoder (VAE) trained on collider physics data (specifically boosted $W$ jets), with reconstruction error given by an approximation to the Earth Movers Distance (EMD) between input and output jets. This VAE…

Convolutional neural networks (CNNs) have been shown to be state-of-the-art models for visual cortical neurons. Cortical neurons in the primary visual cortex are sensitive to contextual information mediated by extensive horizontal and…