Approach to develop visual perception in robots through sensorimotor interactions.
problem Developing autonomous perception in robots.
method Sensorimotor contingencies theory applied to robot exploration and learning.
result Captured sensorimotor regularities in a predictive model for visual field discovery.
Paper identifies invariant structures for object perception.
problem Understanding how agents perceive objects in dynamic environments.
method Sensorimotor Contingencies Theory inspired unsupervised predictive model.
result Agents can identify invariant structures in sensorimotor experiences.
Enactive learning shows agents can learn from their environment, but limited by action choices.
problem Learning and interaction of autonomous agents in complex environments.
method Simulation of artificial agents in maze environments, comparing enactive learning to classical reinforcement learning.
result Enactive agents can learn to avoid unfavorable interactions but performance is limited by action choices.
Robot learns sensorimotor relationships through exploration.
problem Autonomous acquisition of sensorimotor contingencies by robots.
method Developmental framework encoding predictive models of sensorimotor experience.
result Robot discovers the environment, objects, and visual field through internal encoding of sensorimotor contingencies.
Agents can learn spatial structure from raw sensorimotor experience.
problem Understanding spatial knowledge and its emergence in autonomous agents.
method A simple sensorimotor predictive scheme applied to various agents and exploration types.
result Agents can capture spatial topology and metric regularity without prior knowledge or supervision.
Agents learn spatial structure without supervision.
problem Understanding spatial knowledge in autonomous agents.
method Sensorimotor predictive scheme applied to various agents and exploration types.
result Agents can learn egocentric spatial structure without supervision.
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…
Robot learns to imitate human interactions through deep learning.
problem Teaching robots to coordinate actions with human partners.
method Deep learning framework for motion embedding, prediction, and trajectory generation.
result Importance of predictive and adaptive components for successful imitation.
New method infers human sensorimotor costs from behavior.
problem Inferring human sensorimotor costs from observed behavior.
method Inverse optimal control with signal-dependent noise.
result Recovering costs and benefits in sensorimotor behavior.
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…
A neural network predicts a body image from sensorimotor data.
problem How to acquire a body image from sensorimotor data.
method A two-branches deconvolutional neural network trained on first-person images.
result The network can automatically isolate the visible arm from the environment.
Robots learn spatial perception from sensorimotor invariants.
problem Developing autonomous robots that perceive space without human intuition.
method Study how a robot's motor commands relate to changes in exteroceptive inputs to deduce its spatial configuration.
result Robots can learn the configuration space of their sensors, revealing a planar position and orientation.
New method allows a robot to perceive space dimensions without prior knowledge.
problem Limitation of previous methods in perceiving space dimensions with small movements.
method Non-linear dimension estimation method.
result Robots can now perceive space dimensions with larger movements.
NDPs embed dynamical systems into neural networks for efficient sensorimotor learning.
problem Training policies directly in raw action spaces limits scalability for continuous tasks.
method Embed dynamical systems into neural networks to learn robot behaviors via demonstrations.
result NDPs outperform prior methods in both imitation and reinforcement learning setups.
Researchers improved Minecraft game performance using imitation learning.
problem Achieving state-of-the-art performance in immersive environments like Minecraft.
method Applied imitation learning to Minecraft, optimizing network architecture, loss function, and data augmentation.
result Reported stronger results than previous experiments, reaching second place in a competition.
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…
Derives time-averaged active inference from control principles.
problem Finite-horizon or discounted-surprise problems in active inference.
method Derives infinite-horizon, average-surprise active inference from optimal control principles.
result Unified objective functional for sensorimotor control.
This work frames active inference through control as inference, offering robust control algorithms.
problem Active inference framework lacks practical sensorimotor control algorithms.
method Frame active inference through control as inference, presenting trajectory optimization as inference.
result AI may be framed as partially-observed CaI when the cost function is defined in observation states.
Neural network approximates Bayesian decision-making parameters.
problem Analytical intractability of Bayesian decision-making in naturalistic tasks.
method Neural amortization of Bayesian actor model.
result Efficient gradient-based inference of Bayesian actor model parameters.
This paper proposes a new method to connect language and physical actions in reinforcement learning.
problem Connecting linguistic representations to the physical world in embodied agents.
method Language-conditioned goal generators to decouple sensorimotor learning from language acquisition.
result Agents can demonstrate a diversity of behaviors for any given instruction.
Framework transfers limited steering angle data across multiple weather conditions.
problem Limited labeled data for diverse weather conditions in sensorimotor control.
method Teacher-student learning paradigm with image-to-image translation network.
result Framework generalizes well across multiple weather conditions using limited labels.
Model compresses event-like contexts using gated surprise signals.
problem Perceiving a dynamic world as organized events.
method Hierarchical, surprise-gated recurrent neural network architecture.
result Achieves best performance on multiple event processing tasks.
This paper studies how modular agents can learn to control complex morphologies.
problem Contemporary sensorimotor learning starts with existing complex agents, but this paper explores learning from primitive, modular agents.
method A collection of primitive agents learns to dynamically self-assemble into composite bodies and coordinate their behavior to control these bodies.
result Dynamic and modular agents demonstrate better generalization to test-time changes in both environment and agent structure.
This paper proposes a self-supervised exploration method using disagreement of dynamics models.
problem Efficient exploration in stochastic environments with real robots.
method Train an ensemble of dynamics models and incentivize exploration to maximize disagreement.
result Sample-efficient exploration achieved without external rewards or reinforcement learning.
Humans and animals have the ability to continually acquire, fine-tune, and transfer knowledge and skills throughout their lifespan. This ability, referred to as lifelong learning, is mediated by a rich set of neurocognitive mechanisms that together contribute to the development and specialization of our sensorimotor sk…
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…
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.
problem Efficient development of actions and language in infants and robots.
method Curiosity-driven self-exploration using Q-learning to amortize active inference.
result Curiosity-driven exploration enables faster learning and compositional generalization.
Method estimates fingertip forces, torques, and curvatures from fingernail images.
problem Estimating fingertip forces and curvatures in various contact scenarios.
method Deformation and color distribution analysis of fingernail images using neural networks.
result High accuracy in predicting fingertip forces, torques, and curvatures.
The objective of this work is to augment the basic abilities of a robot by learning to use new sensorimotor primitives to enable the solution of complex long-horizon problems. Solving long-horizon problems in complex domains requires flexible generative planning that can combine primitive abilities in novel combination…
New method disentangles perceptual uncertainty and behavioral costs in partially observable systems.
problem Tackles inverse optimal control for non-linear partially observable systems.
method Probabilistic approach using maximum causal entropy formulations and local linearization.
result Disentangles perceptual factors and behavioral costs in sequential decision-making.
Even though end-to-end supervised learning has shown promising results for sensorimotor control of self-driving cars, its performance is greatly affected by the weather conditions under which it was trained, showing poor generalization to unseen conditions. In this paper, we show how knowledge can be transferred using …
IFM improves recommender systems by learning flexible feature interactions.
problem Dealing with feature interactions in recommender systems can degrade performance.
method Introduces Interaction-Aware Mechanism (IAM) to learn feature and field interactions.
result Improves performance on two well-known datasets compared to state-of-the-art methods.
Surrogate-based analysis of interactions via local effect smooths
problem Detecting and characterizing feature interactions in machine learning models
method Surrogate-based analysis using generalized additive models
result Empirical validation of effectiveness for pairwise interactions
Intelligence emerges from stabilizing invariant cycles in memory.
problem Understanding the nature of intelligence and its emergence.
method Structural-dynamical account rooted in a topological closure law: \(\partial^2=0\).
result Memory-amortized inference (MAI) mechanism that implements SbS \(
ightarrow\) CCUP.
A new method detects interactions in neural networks using topological analysis.
problem Detecting interactions between input features in neural networks.
method Topological analysis of neural network connectivity to quantify interaction strength.
result The PID algorithm outperforms state-of-the-art baselines in interaction detection tasks.
Interactive learning framework for various settings.
problem Various interactive learning settings.
method Adapted active learning algorithm for interactive structure discovery.
result Noise-tolerant algorithm with favorable query complexity.
InteractE improves link prediction in KGs by increasing feature interactions.
problem Improving link prediction in knowledge graphs by inferring missing links.
method Feature permutation, novel feature reshaping, circular convolution.
result InteractE outperforms ConvE on multiple KG datasets.
iKF method uncovers complex variable interactions for scientific discovery.
problem Limited interpretability of existing models in decision-making applications.
method Iterative Kings' Forests (iKF) method to uncover multi-order interactions.
result iKF provides strong interpretive power for explainable modeling.
Graph neural network predicts vehicle interactions and trajectories for autonomous driving.
problem Predicting future motion of vehicles in traffic scenes.
method Graph neural network that jointly predicts interaction modes and 5-second future trajectories.
result Jointly predicting trajectories and interaction modes leads to lower trajectory error.
A graph neural network detects beneficial feature interactions for recommender systems.
problem Feature interactions are crucial but not all are beneficial for recommendation accuracy.
method Graph neural network with L0 activation regularization for edge prediction.
result The model outperforms baselines and automatically identifies beneficial feature interactions.
We describe and extract time-ordered multibody interactions from complex systems.
problem Complex systems with temporal and multibody dependencies.
method Decompose multivariate Markov chains into time-ordered multibody interactions. Algorithm to extract interactions from data. Measure complexity of interaction ensembles.
result Robust and efficient algorithm to infer time-ordered multibody interactions from data.
Dropout regularizes against high-order interactions by canceling interaction rates.
problem Overfitting to high-order interactions in neural networks.
method Analyzes Dropout through the lens of interaction effects, showing how it effectively cancels out the probability of surviving interactions of different orders.
result Dropout regularizes against high-order interactions by effectively canceling out the probability of surviving interactions of different orders.
Understanding how features interact with each other is of paramount importance in many scientific discoveries and contemporary applications. Yet interaction identification becomes challenging even for a moderate number of covariates. In this paper, we suggest an efficient and flexible procedure, called the interaction …
Multitask Gaussian process (MTGP) is powerful for joint learning of multiple tasks with complicated correlation patterns. However, due to the assembling of additive independent latent functions, all current MTGPs including the salient linear model of coregionalization (LMC) and convolution frameworks cannot effectively…
SocialInteractionGAN generates realistic human interactions from low-dimensional data.
problem Generating realistic human interactions from limited data.
method Adversarial architecture with a recurrent encoder-decoder generator and dual-stream discriminator.
result SocialInteractionGAN produces high-quality action sequences of interacting people.
A new method detects interactions in machine learning models.
problem Interpreting non-linear and interaction effects in machine learning models.
method Regional effect plots with implicit interaction detection.
result The method quantifies and interprets feature effects reliably, less confounded by interactions.