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Variational Causal Dynamics: Discovering Modular World Models from Interventions


Jun 22, 2022
Anson Lei, Bernhard Schölkopf, Ingmar Posner


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ObPose: Leveraging Canonical Pose for Object-Centric Scene Inference in 3D


Jun 07, 2022
Yizhe Wu, Oiwi Parker Jones, Ingmar Posner

* 16 pages, 6 figures 

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VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation


May 02, 2022
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner

* 15 pages, 13 figures, 1 table, submitted to IEEE Transactions on Robotics (T-RO). arXiv admin note: substantial text overlap with arXiv:2112.04809 

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Zero-Shot Category-Level Object Pose Estimation


Apr 07, 2022
Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner

* 29 pages, 5 figures 

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Fast-MbyM: Leveraging Translational Invariance of the Fourier Transform for Efficient and Accurate Radar Odometry


Mar 01, 2022
Robert Weston, Matthew Gadd, Daniele De Martini, Paul Newman, Ingmar Posner

* 7 pages 

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Priors, Hierarchy, and Information Asymmetry for Skill Transfer in Reinforcement Learning


Jan 20, 2022
Sasha Salter, Kristian Hartikainen, Walter Goodwin, Ingmar Posner


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Next Steps: Learning a Disentangled Gait Representation for Versatile Quadruped Locomotion


Dec 09, 2021
Alexander L. Mitchell, Wolfgang Merkt, Mathieu Geisert, Siddhant Gangapurwala, Martin Engelcke, Oiwi Parker Jones, Ioannis Havoutis, Ingmar Posner

* 8 pages, 6 figures, under review at Robotics and Automation Letters (RA-L) 

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Semantically Grounded Object Matching for Robust Robotic Scene Rearrangement


Nov 15, 2021
Walter Goodwin, Sagar Vaze, Ioannis Havoutis, Ingmar Posner

* 8 pages, 5 figures 

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From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence


Oct 28, 2021
Nicholas Roy, Ingmar Posner, Tim Barfoot, Philippe Beaudoin, Yoshua Bengio, Jeannette Bohg, Oliver Brock, Isabelle Depatie, Dieter Fox, Dan Koditschek, Tomas Lozano-Perez, Vikash Mansinghka, Christopher Pal, Blake Richards, Dorsa Sadigh, Stefan Schaal, Gaurav Sukhatme, Denis Therien, Marc Toussaint, Michiel Van de Panne


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Universal Approximation of Functions on Sets


Jul 05, 2021
Edward Wagstaff, Fabian B. Fuchs, Martin Engelcke, Michael A. Osborne, Ingmar Posner

* 54 pages, 13 figures 

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