相关论文: Roles Are Really Great!

The manipulation of articulated objects is of primary importance in Robotics, and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, which lack…

To determine an optimal plan for complex tasks, one often deals with dynamic and hierarchical relationships between several entities. Traditionally, such problems are tackled with optimal control, which relies on the optimization of cost…

Alias analysis, which determines whether two expressions in a program may reference to the same object, has many potential applications in program construction and verification. We have developed a theory for alias analysis, the "alias…

With the use of object-oriented languages for HEP, many experiments have designed their data objects to contain direct references to other objects in the event (e.g., tracks and electromagnetic showers have references to each other to…

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

Manipulating an articulated object requires perceiving itskinematic hierarchy: its parts, how each can move, and howthose motions are coupled. Previous work has explored per-ception for kinematics, but none infers a complete…

The problem of optimal authorization of a user in a system with a role-based access control policy is considered. The main criterion is to minimize the risks of permission leakage. The choice of the role for authorization is based on the…

Roles represent node-level connectivity patterns such as star-center, star-edge nodes, near-cliques or nodes that act as bridges to different regions of the graph. Intuitively, two nodes belong to the same role if they are structurally…

To catch a thrown object, a robot must be able to perceive the object's motion and generate control actions in a timely manner. Rather than explicitly estimating the object's 3D position, this work focuses on a novel approach that…

Reasoning about objects, relations, and physics is central to human intelligence, and a key goal of artificial intelligence. Here we introduce the interaction network, a model which can reason about how objects in complex systems interact,…

Object-centric process mining examines how processes interact with multiple co-evolving objects, and has gained great interest in recent years. However, object-centric event logs (OCELs) leave object relationships underspecified in several…

Spatial relationships between objects represent key scene information for humans to understand and interact with the world. To study the capability of current computer vision systems to recognize physically grounded spatial relations, we…

Modeling agent behavior is central to understanding the emergence of complex phenomena in multiagent systems. Prior work in agent modeling has largely been task-specific and driven by hand-engineering domain-specific prior knowledge. We…

Intelligent agents must autonomously interact with the environments to perform daily tasks based on human-level instructions. They need a foundational understanding of the world to accurately interpret these instructions, along with precise…

Humans can leverage hierarchical structures to split a task into sub-tasks and solve problems efficiently. Both imitation and reinforcement learning or a combination of them with hierarchical structures have been proven to be an efficient…

Machine learning models are increasingly used to automate decisions that affect humans - deciding who should receive a loan, a job interview, or a social service. In such applications, a person should have the ability to change the decision…

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

We introduce agents that use object-oriented reasoning to consider alternate states of the world in order to more quickly find solutions to problems. Specifically, a hierarchical controller directs a low-level agent to behave as if objects…

Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through…

We study interactions between agents in multi-agent systems, in which the agents are misinformed with regards to the game that they play, essentially having a subjective and incorrect understanding of the setting, without being aware of it.…