相关论文: Emergent Semantic Representations in World Models …

In this work we consider partially observable environments with sparse rewards. We present a self-supervised representation learning method for image-based observations, which arranges embeddings respecting temporal distance of…

Autonomous agents operating in dynamic and safety-critical environments require decision-making frameworks that are both computationally efficient and physically grounded. However, many existing approaches rely on end-to-end learning, which…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

This paper presents a reactive planning system that enriches the topological representation of an environment with a tightly integrated semantic representation, achieved by incorporating and exploiting advances in deep perceptual learning…

Understanding internal representations of neural models is a core interest of mechanistic interpretability. Due to its large dimensionality, the representation space can encode various aspects about inputs. To what extent are different…

Recent progress in large language models (LLMs) has demonstrated the ability to learn and leverage Internet-scale knowledge through pre-training with autoregressive models. Unfortunately, applying such models to settings with embodied…

Vision-language models encode images and text in a joint space, minimizing the distance between corresponding image and text pairs. How are language and images organized in this joint space, and how do the models encode meaning and…

We propose a new neurally-inspired model that can learn to encode the global relationship context of visual events across time and space and to use the contextual information to modulate the analysis by synthesis process in a predictive…

Language is an interface to the outside world. In order for embodied agents to use it, language must be grounded in other, sensorimotor modalities. While there is an extended literature studying how machines can learn grounded language, the…

The Strong Platonic Representation Hypothesis suggests that representational convergence in artificial neural networks can be harnessed constructively: embeddings can be translated across models through a universal latent space without…

Vision-Language-Action (VLA) models drive next-generation autonomous systems, but training them requires scalable, high-quality annotations from complex environments. Current cloud pipelines rely on generic vision-language models (VLMs)…

Two traditions of interpretability have evolved side by side but seldom spoken to each other: Concept Bottleneck Models (CBMs), which prescribe what a concept should be, and Sparse Autoencoders (SAEs), which discover what concepts emerge.…

Learning predictive models from high-dimensional sensory observations is fundamental for cyber-physical systems, yet the latent representations learned by standard world models lack physical interpretability. This limits their reliability,…

Humans are social creatures who readily recognize various social interactions from simple display of moving shapes. While previous research has often focused on visual features, we examine what semantic representations that humans employ to…

In this paper we propose Structuring AutoEncoders (SAE). SAEs are neural networks which learn a low dimensional representation of data which are additionally enriched with a desired structure in this low dimensional space. While traditional…

Large transformers are powerful architectures used for self-supervised data analysis across various data types, including protein sequences, images, and text. In these models, the semantic structure of the dataset emerges from a sequence of…

Current Large Language Models (LLMs) exhibit a critical modal disconnect: they possess vast semantic knowledge but lack the procedural grounding to respect the immutable laws of the physical world. Consequently, while these agents…

Human intelligence relies in part on our brains' ability to create abstract mental models that succinctly capture the hidden blueprint of our reality. Such abstract world models notably allow us to rapidly navigate novel situations by…

In disentangled representation learning, a model is asked to tease apart a dataset's underlying sources of variation and represent them independently of one another. Since the model is provided with no ground truth information about these…