A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
Researchers improved Minecraft game performance using imitation learning.
Sensorimotor contingency theory offers a promising account of the nature of perception, a topic rarely addressed in the robotics community. We propose a developmental framework to address the problem of the autonomous acquisition of sensorimotor contingencies by a naive robot. While exploring the world, the robot inter…
Perceiving the surrounding environment in terms of objects is useful for any general purpose intelligent agent. In this paper, we investigate a fundamental mechanism making object perception possible, namely the identification of spatio-temporally invariant structures in the sensorimotor experience of an agent. We take…
Artificial perception is traditionally handled by hand-designing task specific algorithms. However, a truly autonomous robot should develop perceptive abilities on its own, by interacting with its environment, and adapting to new situations. The sensorimotor contingencies theory proposes to ground the development of th…
Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical work suggests that the concept of space can be grounded by capturing invariants induced by the structure of space in an ag…
Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical works suggest that the Euclidean structure of space induces invariants in an agent's raw sensorimotor experience. We hypot…
What is the role of real-time control and learning in the formation of social conventions? To answer this question, we propose a computational model that matches human behavioral data in a social decision-making game that was analyzed both in discrete-time and continuous-time setups. Furthermore, unlike previous approa…
New method infers human sensorimotor costs from behavior.
NDPs embed dynamical systems into neural networks for efficient sensorimotor learning.
Derives time-averaged active inference from control principles.
Developmental Robotics offers a new approach to numerous AI features that are often taken as granted. Traditionally, perception is supposed to be an inherent capacity of the agent. Moreover, it largely relies on models built by the system's designer. A new approach is to consider perception as an experimentally acquire…
This work frames active inference through control as inference, offering robust control algorithms.
One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability to perceive object affordances. Since modeling all the possible world interactio…
The design of robotic systems is largely dictated by our purely human intuition about how we perceive the world. This intuition has been proven incorrect with regard to a number of critical issues, such as visual change blindness. In order to develop truly autonomous robots, we must step away from this intuition and le…
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner. They require the ability to predict and adapt to one's partner during an interacti…
Neural network approximates Bayesian decision-making parameters.
Contemporary sensorimotor learning approaches typically start with an existing complex agent (e.g., a robotic arm), which they learn to control. In contrast, this paper investigates a modular co-evolution strategy: a collection of primitive agents learns to dynamically self-assemble into composite bodies while also lea…
This work investigates how a naive agent can acquire its own body image in a self-supervised way, based on the predictability of its sensorimotor experience. Our working hypothesis is that, due to its temporal stability, an agent's body produces more consistent sensory experiences than the environment, which exhibits a…
Model compresses event-like contexts using gated surprise signals.
The enactive approach to cognition is typically proposed as a viable alternative to traditional cognitive science. Enactive cognition displaces the explanatory focus from the internal representations of the agent to the direct sensorimotor interaction with its environment. In this paper, we investigate enactive learnin…
While invasively recorded brain activity is known to provide detailed information on motor commands, it is an open question at what level of detail information about positions of body parts can be decoded from non-invasively acquired signals. In this work it is shown that index finger positions can be differentiated fr…
There is a consensus that human and non-human subjects experience temporal distortions in many stages of their perceptual and decision-making systems. Similarly, intertemporal choice research has shown that decision-makers undervalue future outcomes relative to immediate ones. Here we combine techniques from informatio…
Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and high-dimensionality of sensorimotor spaces which are inherent in such problems. We present a nov…
Based on the cumulated experience over the past 25 years in the field of Brain-Computer Interface (BCI) we can now envision a new generation of BCI. Such BCIs will not require training; instead they will be smartly initialized using remote massive databases and will adapt to the user fast and effectively in the first m…
Robots learn actions and language through curiosity-driven self-exploration.
The ability of deep learning models to generalize well across different scenarios depends primarily on the quality and quantity of annotated data. Labeling large amounts of data for all possible scenarios that a model may encounter would not be feasible; if even possible. We propose a framework to deal with limited lab…
This paper is a sequel of arxiv:1709.09045 and deals with privileged coordinates and nilpotent approximation of Carnot manifolds. By a Carnot manifold it is meant a manifold equipped with a filtration by subbundles of the tangent bundle which is compatible with the Lie bracket of vector fields. In this paper, we single…
Coordinate descent methods usually minimize a cost function by updating a random decision variable (corresponding to one coordinate) at a time. Ideally, we would update the decision variable that yields the largest decrease in the cost function. However, finding this coordinate would require checking all of them, which…
This paper proposes a new method to connect language and physical actions in reinforcement learning.
New findings on Kähler manifolds restrict orthogonal coordinates existence.
Defines Fenchel-Nielsen coordinates for SL(3,C) representations.
Submanifolds of coordinate finite-type were introduced in HV1. A submanifold of a Euclidean space is called a coordinate finite-type submanifold if its coordinate functions are eigenfunctions of Δ. In the present study we consider coordinate finite-type surfaces in E^4. We give necessary and sufficient conditions for g…
The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions. Here we describe a method using the deformation and color distribution of the finge…
We consider complex Fenchel-Nielsen coordinates on the quasi-Fuchsian space of punctured tori. These coordinates arise from a generalisation of Kra's plumbing construction and are related to earthquakes on Teichmueller space. They also allow us to interpolate between two coordinate systems on Teichmueller space, namely…
The Dynnikov coordinate system puts global coordinates on the boundary of Teichmüller space of an --punctured disk. We survey the Dynnikov coordinate system, and investigate how we use this coordinate system to study pseudo--Anosov braids making use of results from Thurston's theory on surface homeomorphisms.
Efficient exploration is a long-standing problem in sensorimotor learning. Major advances have been demonstrated in noise-free, non-stochastic domains such as video games and simulation. However, most of these formulations either get stuck in environments with stochastic dynamics or are too inefficient to be scalable t…
Method constructs orthogonal curvilinear coordinates in constant curvature spaces.
In a previous paper, we parametrized boundary-unipotent representations of a 3-manifold group into SL(n,C) using Ptolemy coordinates, which were inspired by A-coordinates on higher Teichmüller space due to Fock and Goncharov. In this paper, we parametrize representations into PGL(n,C) using shape coordinates which are …
Accelerates coordinate descent methods for machine learning problems.
We construct a tangent bundle exponential map and locally autoparallel coordinates for geometries based on a general connection on the tangent bundle of a manifold. As concrete application we use these new coordinates for Finslerian geometries and obtain Finslerian geodesic coordinates. They generalise normal coordinat…
Invariants of braids found using shear coordinates in hyperbolic geometry.
We study the limiting case of the Krichever construction of orthogonal curvilinear coordinate systems when the spectral curve becomes singular. We show that the case when the curve is reducible and all its irreducible components are rational curves the construction procedure reduces to solving systems of linear equatio…
Normalizes pseudo-Einstein contact forms for easier analysis.
DP-SGD can update fewer coordinates while maintaining privacy.
Novel deep learning method predicts reaction coordinates and future MD trajectories.
Despite being studied for over a century, the use of quadrupoles have been limited to Cartesian coordinates in flat spacetime due to the incorrect transformation rules used to define them. Here the correct transformation rules are derived, which are particularly unusual as they involve second derivatives of the coordin…
The study examines the regularity of branched immersions using special coordinate systems.
This monograph presents a class of algorithms called coordinate descent algorithms for mathematicians, statisticians, and engineers outside the field of optimization. This particular class of algorithms has recently gained popularity due to their effectiveness in solving large-scale optimization problems in machine lea…