相关论文: Active Sensing Subserves Task-Level Control

Visual event perception tasks such as action localization have primarily focused on supervised learning settings under a static observer, i.e., the camera is static and cannot be controlled by an algorithm. They are often restricted by the…

This paper develops a control-theoretic framework for analyzing agentic systems embedded within feedback control loops, where an AI agent may adapt controller parameters, select among control strategies, invoke external tools, reconfigure…

In general, professionals still ignore scientific evidence in place of expert opinions in most of their decision-making. For this reason, it is still common to see the adoption of new software technologies in the field without any…

Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…

Animal behavior serves as a reliable indicator of the adaptation of organisms to their environment and their overall well-being. Through rigorous observation of animal actions and interactions, researchers and observers can glean valuable…

In this work we present a general machine learning based scheme to optimize experimental control. The method utilizes the neural network to learn the relation between the control parameters and the control goal, with which the optimal…

In continuous control, exploration is often performed through undirected strategies in which parameters of the networks or selected actions are perturbed by random noise. Although the deep setting of undirected exploration has been shown to…

One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…

Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…

Wild animals are commonly fitted with trackers that record their position through time, and statistical models for tracking data broadly fall into two categories: models focused on small-scale movement decisions, and models for large-scale…

From organisms to machines, autonomous systems rely on measured sensory cues to estimate unknown information about themselves or their environment. For nonlinear systems, strategic sensor motion can be leveraged to extract otherwise…

Humans and animals explore their environment and acquire useful skills even in the absence of clear goals, exhibiting intrinsic motivation. The study of intrinsic motivation in artificial agents is concerned with the following question:…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

The problem is to evaluate the behavior of an object when primary sources of information about the object become unavailable, so that any information must be obtained from the intelligent use of available secondary sources. This evaluative…

Cognitive control is a suite of processes that helps individuals pursue goals despite resistance or uncertainty about what to do. Although cognitive control has been extensively studied as a dynamic feedback loop of perception, valuation,…

Active inference is a unifying theory for perception and action resting upon the idea that the brain maintains an internal model of the world by minimizing free energy. From a behavioral perspective, active inference agents can be seen as…

Active learning is a practical field of machine learning that automates the process of selecting which data to label. Current methods are effective in reducing the burden of data labeling but are heavily model-reliant. This has led to the…

Active inference is a first principle account of how autonomous agents operate in dynamic, non-stationary environments. This problem is also considered in reinforcement learning (RL), but limited work exists on comparing the two approaches…

Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locating a person in distress. However the true information gained…