51,323 research outputs found
Embodied Artificial Intelligence through Distributed Adaptive Control: An Integrated Framework
In this paper, we argue that the future of Artificial Intelligence research
resides in two keywords: integration and embodiment. We support this claim by
analyzing the recent advances of the field. Regarding integration, we note that
the most impactful recent contributions have been made possible through the
integration of recent Machine Learning methods (based in particular on Deep
Learning and Recurrent Neural Networks) with more traditional ones (e.g.
Monte-Carlo tree search, goal babbling exploration or addressable memory
systems). Regarding embodiment, we note that the traditional benchmark tasks
(e.g. visual classification or board games) are becoming obsolete as
state-of-the-art learning algorithms approach or even surpass human performance
in most of them, having recently encouraged the development of first-person 3D
game platforms embedding realistic physics. Building upon this analysis, we
first propose an embodied cognitive architecture integrating heterogenous
sub-fields of Artificial Intelligence into a unified framework. We demonstrate
the utility of our approach by showing how major contributions of the field can
be expressed within the proposed framework. We then claim that benchmarking
environments need to reproduce ecologically-valid conditions for bootstrapping
the acquisition of increasingly complex cognitive skills through the concept of
a cognitive arms race between embodied agents.Comment: Updated version of the paper accepted to the ICDL-Epirob 2017
conference (Lisbon, Portugal
Backwards is the way forward: feedback in the cortical hierarchy predicts the expected future
Clark offers a powerful description of the brain as a prediction machine, which offers progress on two distinct levels. First, on an abstract conceptual level, it provides a unifying framework for perception, action, and cognition (including subdivisions such as attention, expectation, and imagination). Second, hierarchical prediction offers progress on a concrete descriptive level for testing and constraining conceptual elements and mechanisms of predictive coding models (estimation of predictions, prediction errors, and internal models)
Reasoning, Learning, and Creativity: Frontal Lobe Function and Human Decision-Making
Computational modeling and behavioral experimentation suggest that human frontal lobe function is capable of monitoring three or four concurrent behavioral strategies in order to select the most suitable one during decision-making
CausaLM: Causal Model Explanation Through Counterfactual Language Models
Understanding predictions made by deep neural networks is notoriously
difficult, but also crucial to their dissemination. As all ML-based methods,
they are as good as their training data, and can also capture unwanted biases.
While there are tools that can help understand whether such biases exist, they
do not distinguish between correlation and causation, and might be ill-suited
for text-based models and for reasoning about high level language concepts. A
key problem of estimating the causal effect of a concept of interest on a given
model is that this estimation requires the generation of counterfactual
examples, which is challenging with existing generation technology. To bridge
that gap, we propose CausaLM, a framework for producing causal model
explanations using counterfactual language representation models. Our approach
is based on fine-tuning of deep contextualized embedding models with auxiliary
adversarial tasks derived from the causal graph of the problem. Concretely, we
show that by carefully choosing auxiliary adversarial pre-training tasks,
language representation models such as BERT can effectively learn a
counterfactual representation for a given concept of interest, and be used to
estimate its true causal effect on model performance. A byproduct of our method
is a language representation model that is unaffected by the tested concept,
which can be useful in mitigating unwanted bias ingrained in the data.Comment: Our code and data are available at:
https://amirfeder.github.io/CausaLM/ Under review for the Computational
Linguistics journa
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
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