相关论文: Roles Are Really Great!

Our world can be succinctly and compactly described as structured scenes of objects and relations. A typical room, for example, contains salient objects such as tables, chairs and books, and these objects typically relate to each other by…

Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…

Whether in groups of humans or groups of computer agents, collaboration is most effective between individuals who have the ability to coordinate on a joint strategy for collective action. However, in general a rational actor will only…

A theory, graphical notation, mathematical calculus and implementation for finding whether two given expressions can, at execution time, denote references attached to the same object. Intended as the basis for a comprehensive solution to…

For robots to be able to manipulate in unknown and unstructured environments the robot should be capable of operating under partial observability of the environment. Object occlusions and unmodeled environments are some of the factors that…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the…

Many large-scale, complex systems consist of interactions between humans, human-made systems and the environment. The approach developed in this paper is to partition the problem space into two fundamental layers and identify, parameterize…

Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…

Predicting the structure of a discourse is challenging because relations between discourse segments are often implicit and thus hard to distinguish computationally. I extend previous work to classify implicit discourse relations by…

We investigate a game-theoretic model of a social system where both the rules of the game and the interaction structure are shaped by the behavior of the agents. We call this type of model, with several types of feedback couplings from the…

Successful human-robot cooperation hinges on each agent's ability to process and exchange information about the shared environment and the task at hand. Human communication is primarily based on symbolic abstractions of object properties,…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…

Representing a scene and its constituent objects from raw sensory data is a core ability for enabling robots to interact with their environment. In this paper, we propose a novel approach for scene understanding, leveraging a hierarchical…

Although Reinforcement Learning (RL) has shown impressive results in games and simulation, real-world application of RL suffers from its instability under changing environment conditions and hyperparameters. We give a first impression of…

To determine if a skill can be executed in any given environment, a robot needs to learn the preconditions for the skill. As robots begin to operate in dynamic and unstructured environments, precondition models will need to generalize to…

An agent who interacts with a wide population of other agents needs to be aware that there may be variations in their understanding of the world. Furthermore, the machinery which they use to perceive may be inherently different, as is the…

Agent-based modelling is a powerful tool when simulating human systems, yet when human behaviour cannot be described by simple rules or maximising one's own profit, we quickly reach the limits of this methodology. Machine learning has the…

Great advances in program analysis would be enabled if it were possible to derive the function of a program from inputs to outputs (or from initial states to final states, depending on how we model program semantics). Efforts to do so have…