相关论文: Roles Are Really Great!
A type system is introduced for a generic Object Oriented programming language in order to infer resource upper bounds. A sound andcomplete characterization of the set of polynomial time computable functions is obtained. As a consequence,…
Humans have a rich representation of the entities in their environment. Entities are described by their attributes, and entities that share attributes are often semantically related. For example, if two books have "Natural Language…
Reactive programming is a programming paradigm whereby programs are internally represented by a dependency graph, which is used to automatically (re)compute parts of a program whenever its input changes. In practice reactive programming can…
In conversation, a person sometimes has to refer to an object that is not previously known to the other participant. We present a plan-based model of how agents collaborate on reference of this sort. In making a reference, an agent uses the…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…
Hierarchies allow feature sharing between objects at multiple levels of representation, can code exponential variability in a very compact way and enable fast inference. This makes them potentially suitable for learning and recognizing a…
The recent adoption of machine learning as a tool in real world decision making has spurred interest in understanding how these decisions are being made. Counterfactual Explanations are a popular interpretable machine learning technique…
This survey explores the burgeoning field of role-playing with language models, focusing on their development from early persona-based models to advanced character-driven simulations facilitated by Large Language Models (LLMs). Initially…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…
Assistive agents should make humans' lives easier. Classically, such assistance is studied through the lens of inverse reinforcement learning, where an assistive agent (e.g., a chatbot, a robot) infers a human's intention and then selects…
We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…
Gestures are an expressive input modality for controlling multiple robots, but their use is often limited by rigid mappings and recognition constraints. To move beyond these limitations, we propose roleplaying metaphors as a scaffold for…
Theoretical foundations of compositional reasoning about heaps in imperative programming languages are investigated. We introduce a novel concept of compositional symbolic memory and its relevant properties. We utilize these formal…
This paper presents a novel set of algorithms for heap abstraction, identifying logically related regions of the heap. The targeted regions include objects that are part of the same component structure (recursive data structure). The result…
Heterogeneity is one important feature of complex systems, leading to the complexity of their construction and analysis. Moving the heterogeneity at model level helps in mastering the difficulty of composing heterogeneous models which…
In this study, the influence of objects is investigated in the scenario of human action recognition with large number of classes. We hypothesize that the objects the humans are interacting will have good say in determining the action being…
One of the most basic functions of language is to refer to objects in a shared scene. Modeling reference with continuous representations is challenging because it requires individuation, i.e., tracking and distinguishing an arbitrary number…
Object pose estimation plays a vital role in mixed-reality interactions when users manipulate tangible objects as controllers. Traditional vision-based object pose estimation methods leverage 3D reconstruction to synthesize training data.…
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…