Author name cluster

Siyuan Qi

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

19 papers

2 author rows

NeurIPS Conference 2025 Conference Paper

AgentNet: Decentralized Evolutionary Coordination for LLM-based Multi-Agent Systems

Yingxuan Yang
Huacan Chai
Shuai Shao
Yuanyi Song
Siyuan Qi
Renting Rui
Weinan Zhang

The rapid advancement of Large Language Models (LLMs) has catalyzed the development of multi-agent systems, where multiple LLM-based agents collaborate to solve complex tasks. However, existing systems predominantly rely on centralized coordination, which introduces scalability bottlenecks, limits adaptability, and creates single points of failure. Additionally, concerns over privacy and proprietary knowledge sharing hinder cross-organizational collaboration, leading to siloed expertise. To address these challenges, we propose AgentNet, a decentralized, Retrieval-Augmented Generation (RAG)-based framework that enables LLM-based agents to autonomously evolve their capabilities and collaborate efficiently in a Directed Acyclic Graph (DAG)-structured network. Unlike traditional multi-agent systems that depend on static role assignments or centralized control, AgentNet allows agents to specialize dynamically, adjust their connectivity, and route tasks without relying on predefined workflows. AgentNet’s core design is built upon several key innovations: (1) Fully Decentralized Paradigm: Removing the central orchestrator, allowing agents to coordinate and specialize autonomously, fostering fault tolerance and emergent collective intelligence. (2) Dynamically Evolving Graph Topology: Real-time adaptation of agent connections based on task demands, ensuring scalability and resilience. (3) Adaptive Learning for Expertise Refinement: A retrieval-based memory system that enables agents to continuously update and refine their specialized skills. By eliminating centralized control, AgentNet enhances fault tolerance, promotes scalable specialization, and enables privacy-preserving collaboration across organizations. Through decentralized coordination and minimal data exchange, agents can leverage diverse knowledge sources while safeguarding sensitive information. Experimental results demonstrate that AgentNet outperforms traditional centralized multi-agent systems, significantly improving efficiency, adaptability, and scalability in dynamic environments, making it a promising foundation for next-generation autonomous, privacy-respecting multi-agent ecosystems.

PDF Details

AAAI Conference 2025 Conference Paper

Differentiable Information Enhanced Model-Based Reinforcement Learning

Xiaoyuan Zhang
Xinyan Cai
Bo Liu
Weidong Huang
Song-Chun Zhu
Siyuan Qi
Yaodong Yang

Differentiable environments have heralded new possibilities for learning control policies by offering rich differentiable information that facilitates gradient-based methods. In comparison to prevailing model-free reinforcement learning approaches, model-based reinforcement learning (MBRL) methods exhibit the potential to effectively harness the power of differentiable information for recovering the underlying physical dynamics. However, this presents two primary challenges: effectively utilizing differentiable information to 1) construct models with more accurate dynamic prediction and 2) enhance the stability of policy training. In this paper, we propose a Differentiable Information Enhanced MBRL method, MB-MIX, to address both challenges. Firstly, we adopt a Sobolev model training approach that penalizes incorrect model gradient outputs, enhancing prediction accuracy and yielding more precise models that faithfully capture system dynamics. Secondly, we introduce mixing lengths of truncated learning windows to reduce the variance in policy gradient estimation, resulting in improved stability during policy learning. To validate the effectiveness of our approach in differentiable environments, we provide theoretical analysis and empirical results. Notably, our approach outperforms previous model-based and model-free methods, in multiple challenging tasks involving controllable rigid robots such as humanoid robots' motion control and deformable object manipulation.

PDF Details DOI

ICLR Conference 2025 Conference Paper

In-Context Editing: Learning Knowledge from Self-Induced Distributions

Siyuan Qi
Bangcheng Yang
Kailin Jiang
Xiaobo Wang 0004
Jiaqi Li 0021
Yifan Zhong
Yaodong Yang 0001
Zilong Zheng

In scenarios where language models must incorporate new information efficiently without extensive retraining, traditional fine-tuning methods are prone to overfitting, degraded generalization, and unnatural language generation. To address these limitations, we introduce Consistent In-Context Editing (ICE), a novel approach leveraging the model's in-context learning capability to optimize towards a contextual distribution rather than a one-hot target. ICE introduces a simple yet effective optimization framework for the model to internalize new knowledge by aligning its output distributions with and without additional context. This method enhances the robustness and effectiveness of gradient-based tuning methods, preventing overfitting and preserving the model's integrity. We analyze ICE across four critical aspects of knowledge editing: accuracy, locality, generalization, and linguistic quality, demonstrating its advantages. Experimental results confirm the effectiveness of ICE and demonstrate its potential for continual editing, ensuring that the integrity of the model is preserved while updating information.

Details

ICLR Conference 2025 Conference Paper

MMKE-Bench: A Multimodal Editing Benchmark for Diverse Visual Knowledge

Yuntao Du 0001
Kailin Jiang
Zhi Gao 0002
Chenrui Shi
Zilong Zheng
Siyuan Qi
Qing Li 0003

Knowledge editing techniques have emerged as essential tools for updating the factual knowledge of large language models (LLMs) and multimodal models (LMMs), allowing them to correct outdated or inaccurate information without retraining from scratch. However, existing benchmarks for multimodal knowledge editing primarily focus on entity-level knowledge represented as simple triplets, which fail to capture the complexity of real-world multimodal information. To address this issue, we introduce MMKE-Bench, a comprehensive **M**ulti**M**odal **K**nowledge **E**diting Benchmark, designed to evaluate the ability of LMMs to edit diverse visual knowledge in real-world scenarios. MMKE-Bench addresses these limitations by incorporating three types of editing tasks: visual entity editing, visual semantic editing, and user-specific editing. Besides, MMKE-Bench uses free-form natural language to represent and edit knowledge, offering a more flexible and effective format. The benchmark consists of 2,940 pieces of knowledge and 8,363 images across 33 broad categories, with evaluation questions automatically generated and human-verified. We assess five state-of-the-art knowledge editing methods on three prominent LMMs, revealing that no method excels across all criteria, and that visual and user-specific edits are particularly challenging. MMKE-Bench sets a new standard for evaluating the robustness of multimodal knowledge editing techniques, driving progress in this rapidly evolving field.

Details

TMLR Journal 2025 Journal Article

The AI Hippocampus: How Far are We From Human Memory?

Zixia Jia
Jiaqi Li
Yipeng Kang
Yuxuan Wang
Tong Wu
Quansen Wang
Xiaobo Wang
Shuyi Zhang

Memory plays a foundational role in augmenting the reasoning, adaptability, and contextual fidelity of modern Large Language Models (LLMs) and Multi-Modal LLMs (MLLMs). As these models transition from static predictors to interactive systems capable of continual learning and personalized inference, the incorporation of memory mechanisms has emerged as a central theme in their architectural and functional evolution. This survey presents a comprehensive and structured synthesis of memory in LLMs and MLLMs, organizing the literature into a cohesive taxonomy comprising implicit, explicit, and agentic memory paradigms. Specifically, the survey delineates three primary memory frameworks. \textit{Implicit memory} refers to the knowledge embedded within the internal parameters of pre-trained transformers, encompassing their capacity for memorization, associative retrieval, and contextual reasoning. Recent work has explored methods to interpret, manipulate, and reconfigure this latent memory. \textit{Explicit memory} involves external storage and retrieval components designed to augment model outputs with dynamic, queryable knowledge representations—such as textual corpora, dense vectors, and graph-based structures—thereby enabling scalable and updatable interaction with information sources. \textit{Agentic memory} introduces persistent, temporally extended memory structures within autonomous agents, facilitating long-term planning, self-consistency, and collaborative behavior in multi-agent systems, with relevance to embodied and interactive AI. Extending beyond text, the survey examines the integration of memory within multi-modal settings, where coherence across vision, language, audio, and action modalities is essential. Key architectural advances, benchmark tasks, and open challenges are discussed, including issues related to memory capacity, alignment, factual consistency, and cross-system interoperability. By charting the current landscape and identifying critical research directions, this survey aims to inform the development of memory-augmented (M)LLMs that are more flexible, context-sensitive, and aligned with the requirements of real-world intelligent systems. The survey’s website is available at \url{https://github.com/bigai-nlco/LLM-Memory-Survey}.

PDF Details

NeurIPS Conference 2025 Conference Paper

World Models Should Prioritize the Unification of Physical and Social Dynamics

Xiaoyuan Zhang
Chengdong Ma
Yizhe Huang
Weidong Huang
Siyuan Qi
Song-Chun Zhu
Xue Feng
Yaodong Yang

World models, which explicitly learn environmental dynamics to lay the foundation for planning, reasoning, and decision-making, are rapidly advancing in predicting both physical dynamics and aspects of social behavior, yet predominantly in separate silos. This division results in a systemic failure to model the crucial interplay between physical environments and social constructs, rendering current models fundamentally incapable of adequately addressing the true complexity of real-world systems where physical and social realities are inextricably intertwined. This position paper argues that the systematic, bidirectional unification of physical and social predictive capabilities is the next crucial frontier for world model development. We contend that comprehensive world models must holistically integrate objective physical laws with the subjective, evolving, and context-dependent nature of social dynamics. Such unification is paramount for AI to robustly navigate complex real-world challenges and achieve more generalizable intelligence. This paper substantiates this imperative by analyzing core impediments to integration, proposing foundational guiding principles (ACE Principles), and outlining a conceptual framework alongside a research roadmap towards truly holistic world models.

PDF Details

ICML Conference 2024 Conference Paper

A Contextual Combinatorial Bandit Approach to Negotiation

Yexin Li
Zhancun Mu
Siyuan Qi

Learning effective negotiation strategies poses two key challenges: the exploration-exploitation dilemma and dealing with large action spaces. However, there is an absence of learning-based approaches that effectively address these challenges in negotiation. This paper introduces a comprehensive formulation to tackle various negotiation problems. Our approach leverages contextual combinatorial multi-armed bandits, with the bandits resolving the exploration-exploitation dilemma, and the combinatorial nature handles large action spaces. Building upon this formulation, we introduce NegUCB, a novel method that also handles common issues such as partial observations and complex reward functions in negotiation. NegUCB is contextual and tailored for full-bandit feedback without constraints on the reward functions. Under mild assumptions, it ensures a sub-linear regret upper bound. Experiments conducted on three negotiation tasks demonstrate the superiority of our approach.

Details

NeurIPS Conference 2024 Conference Paper

AdaSociety: An Adaptive Environment with Social Structures for Multi-Agent Decision-Making

Yizhe Huang
Xingbo Wang
Hao Liu
Fanqi Kong
Aoyang Qin
Min Tang
Song-Chun Zhu
Mingjie Bi

Traditional interactive environments limit agents' intelligence growth with fixed tasks. Recently, single-agent environments address this by generating new tasks based on agent actions, enhancing task diversity. We consider the decision-making problem in multi-agent settings, where tasks are further influenced by social connections, affecting rewards and information access. However, existing multi-agent environments lack a combination of adaptive physical surroundings and social connections, hindering the learning of intelligent behaviors. To address this, we introduce AdaSociety, a customizable multi-agent environment featuring expanding state and action spaces, alongside explicit and alterable social structures. As agents progress, the environment adaptively generates new tasks with social structures for agents to undertake. In AdaSociety, we develop three mini-games showcasing distinct social structures and tasks. Initial results demonstrate that specific social structures can promote both individual and collective benefits, though current reinforcement learning and LLM-based algorithms show limited effectiveness in leveraging social structures to enhance performance. Overall, AdaSociety serves as a valuable research platform for exploring intelligence in diverse physical and social settings. The code is available at https: //github. com/bigai-ai/AdaSociety.

PDF Details DOI

ICLR Conference 2024 Conference Paper

CivRealm: A Learning and Reasoning Odyssey in Civilization for Decision-Making Agents

Siyuan Qi
Shuo Chen 0006
Yexin Li
Xiangyu Kong
Junqi Wang
Bangcheng Yang
Pring Wong
Yifan Zhong

The generalization of decision-making agents encompasses two fundamental elements: learning from past experiences and reasoning in novel contexts. However, the predominant emphasis in most interactive environments is on learning, often at the expense of complexity in reasoning. In this paper, we introduce CivRealm, an environment inspired by the Civilization game. Civilization’s profound alignment with human society requires sophisticated learning and prior knowledge, while its ever-changing space and action space demand robust reasoning for generalization. Particularly, CivRealm sets up an imperfect-information general-sum game with a changing number of players; it presents a plethora of complex features, challenging the agent to deal with open-ended stochastic environments that require diplomacy and negotiation skills. Within CivRealm, we provide interfaces for two typical agent types: tensor-based agents that focus on learning, and language-based agents that emphasize reasoning. To catalyze further research, we present initial results for both paradigms. The canonical RL-based agents exhibit reasonable performance in mini-games, whereas both RL- and LLM-based agents struggle to make substantial progress in the full game. Overall, CivRealm stands as a unique learning and reasoning challenge for decision-making agents. The code is available at https://github.com/bigai-ai/civrealm.

Details

ICLR Conference 2024 Conference Paper

Facing the Elephant in the Room: Visual Prompt Tuning or Full finetuning?

Cheng Han 0001
Qifan Wang 0001
Yiming Cui 0002
Wenguan Wang
Lifu Huang
Siyuan Qi
Dongfang Liu

As the scale of vision models continues to grow, the emergence of Visual Prompt Tuning (VPT) as a parameter-efficient transfer learning technique has gained attention due to its superior performance compared to traditional full-finetuning. However, the conditions favoring VPT (the "when") and the underlying rationale (the "why") remain unclear. In this paper, we conduct a comprehensive analysis across 19 distinct datasets and tasks. To understand the "when" aspect, we identify the scenarios where VPT proves favorable by two dimensions: task objectives and data distributions. We find that VPT is preferrable when there is 1) a substantial disparity between the original and the downstream task objectives ($e.g.$, transitioning from classification to counting), or 2) a notable similarity in data distributions between the two tasks ($e.g.$, both involve natural images). In exploring the "why" dimension, our results indicate VPT's success cannot be attributed solely to overfitting and optimization considerations. The unique way VPT preserves original features and adds parameters appears to be a pivotal factor. Our study provides insights into VPT's mechanisms, and offers guidance for its optimal utilization.

Details

NeurIPS Conference 2024 Conference Paper

Learning to Balance Altruism and Self-interest Based on Empathy in Mixed-Motive Games

Fanqi Kong
Yizhe Huang
Song-Chun Zhu
Siyuan Qi
Xue Feng

Real-world multi-agent scenarios often involve mixed motives, demanding altruistic agents capable of self-protection against potential exploitation. However, existing approaches often struggle to achieve both objectives. In this paper, based on that empathic responses are modulated by learned social relationships between agents, we propose LASE (**L**earning to balance **A**ltruism and **S**elf-interest based on **E**mpathy), a distributed multi-agent reinforcement learning algorithm that fosters altruistic cooperation through gifting while avoiding exploitation by other agents in mixed-motive games. LASE allocates a portion of its rewards to co-players as gifts, with this allocation adapting dynamically based on the social relationship --- a metric evaluating the friendliness of co-players estimated by counterfactual reasoning. In particular, social relationship measures each co-player by comparing the estimated $Q$-function of current joint action to a counterfactual baseline which marginalizes the co-player's action, with its action distribution inferred by a perspective-taking module. Comprehensive experiments are performed in spatially and temporally extended mixed-motive games, demonstrating LASE's ability to promote group collaboration without compromising fairness and its capacity to adapt policies to various types of interactive co-players.

PDF Details DOI

NeurIPS Conference 2024 Conference Paper

Panacea: Pareto Alignment via Preference Adaptation for LLMs

Yifan Zhong
Chengdong Ma
Xiaoyuan Zhang
Ziran Yang
Haojun Chen
Qingfu Zhang
Siyuan Qi
Yaodong Yang

Current methods for large language model alignment typically use scalar human preference labels. However, this convention tends to oversimplify the multi-dimensional and heterogeneous nature of human preferences, leading to reduced expressivity and even misalignment. This paper presents Panacea, an innovative approach that reframes alignment as a multi-dimensional preference optimization problem. Panacea trains a single model capable of adapting online and Pareto-optimally to diverse sets of preferences without the need for further tuning. A major challenge here is using a low-dimensional preference vector to guide the model's behavior, despite it being governed by an overwhelmingly large number of parameters. To address this, Panacea is designed to use singular value decomposition (SVD)-based low-rank adaptation, which allows the preference vector to be simply injected online as singular values. Theoretically, we prove that Panacea recovers the entire Pareto front with common loss aggregation methods under mild conditions. Moreover, our experiments demonstrate, for the first time, the feasibility of aligning a single LLM to represent an exponentially vast spectrum of human preferences through various optimization methods. Our work marks a step forward in effectively and efficiently aligning models to diverse and intricate human preferences in a controllable and Pareto-optimal manner.

PDF Details DOI

AAAI Conference 2020 Conference Paper

Theory-Based Causal Transfer:Integrating Instance-Level Induction and Abstract-Level Structure Learning

Mark Edmonds
Xiaojian Ma
Siyuan Qi
Yixin Zhu
Hongjing Lu
Song-Chun Zhu

Learning transferable knowledge across similar but different settings is a fundamental component of generalized intelligence. In this paper, we approach the transfer learning challenge from a causal theory perspective. Our agent is endowed with two basic yet general theories for transfer learning: (i) a task shares a common abstract structure that is invariant across domains, and (ii) the behavior of speciﬁc features of the environment remain constant across domains. We adopt a Bayesian perspective of causal theory induction and use these theories to transfer knowledge between environments. Given these general theories, the goal is to train an agent by interactively exploring the problem space to (i) discover, form, and transfer useful abstract and structural knowledge, and (ii) induce useful knowledge from the instance-level attributes observed in the environment. A hierarchy of Bayesian structures is used to model abstract-level structural causal knowledge, and an instance-level associative learning scheme learns which speciﬁc objects can be used to induce state changes through interaction. This model-learning scheme is then integrated with a model-based planner to achieve a task in the Open- Lock environment, a virtual “escape room” with a complex hierarchy that requires agents to reason about an abstract, generalized causal structure. We compare performances against a set of predominate model-free reinforcement learning (RL) algorithms. RL agents showed poor ability transferring learned knowledge across different trials. Whereas the proposed model revealed similar performance trends as human learners, and more importantly, demonstrated transfer behavior across trials and learning situations. 1

PDF Details

NeurIPS Conference 2019 Conference Paper

PerspectiveNet: 3D Object Detection from a Single RGB Image via Perspective Points

Siyuan Huang
Yixin Chen
Tao Yuan
Siyuan Qi
Yixin Zhu
Song-Chun Zhu

Detecting 3D objects from a single RGB image is intrinsically ambiguous, thus requiring appropriate prior knowledge and intermediate representations as constraints to reduce the uncertainties and improve the consistencies between the 2D image plane and the 3D world coordinate. To address this challenge, we propose to adopt perspective points as a new intermediate representation for 3D object detection, defined as the 2D projections of local Manhattan 3D keypoints to locate an object; these perspective points satisfy geometric constraints imposed by the perspective projection. We further devise PerspectiveNet, an end-to-end trainable model that simultaneously detects the 2D bounding box, 2D perspective points, and 3D object bounding box for each object from a single RGB image. PerspectiveNet yields three unique advantages: (i) 3D object bounding boxes are estimated based on perspective points, bridging the gap between 2D and 3D bounding boxes without the need of category-specific 3D shape priors. (ii) It predicts the perspective points by a template-based method, and a perspective loss is formulated to maintain the perspective constraints. (iii) It maintains the consistency between the 2D perspective points and 3D bounding boxes via a differentiable projective function. Experiments on SUN RGB-D dataset show that the proposed method significantly outperforms existing RGB-based approaches for 3D object detection.

PDF Details

NeurIPS Conference 2018 Conference Paper

Cooperative Holistic Scene Understanding: Unifying 3D Object, Layout, and Camera Pose Estimation

Siyuan Huang
Siyuan Qi
Yinxue Xiao
Yixin Zhu
Ying Nian Wu
Song-Chun Zhu

Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera pose, all in 3D. The existing methods either are ineffective or only tackle the problem partially. In this paper, we propose an end-to-end model that simultaneously solves all three tasks in real-time given only a single RGB image. The essence of the proposed method is to improve the prediction by i) parametrizing the targets (e. g. , 3D boxes) instead of directly estimating the targets, and ii) cooperative training across different modules in contrast to training these modules individually. Specifically, we parametrize the 3D object bounding boxes by the predictions from several modules, i. e. , 3D camera pose and object attributes. The proposed method provides two major advantages: i) The parametrization helps maintain the consistency between the 2D image and the 3D world, thus largely reducing the prediction variances in 3D coordinates. ii) Constraints can be imposed on the parametrization to train different modules simultaneously. We call these constraints "cooperative losses" as they enable the joint training and inference. We employ three cooperative losses for 3D bounding boxes, 2D projections, and physical constraints to estimate a geometrically consistent and physically plausible 3D scene. Experiments on the SUN RGB-D dataset shows that the proposed method significantly outperforms prior approaches on 3D layout estimation, 3D object detection, 3D camera pose estimation, and holistic scene understanding.

PDF Details

ICML Conference 2018 Conference Paper

Generalized Earley Parser: Bridging Symbolic Grammars and Sequence Data for Future Prediction

Siyuan Qi
Baoxiong Jia
Song-Chun Zhu

Future predictions on sequence data (e. g. , videos or audios) require the algorithms to capture non-Markovian and compositional properties of high-level semantics. Context-free grammars are natural choices to capture such properties, but traditional grammar parsers (e. g. , Earley parser) only take symbolic sentences as inputs. In this paper, we generalize the Earley parser to parse sequence data which is neither segmented nor labeled. This generalized Earley parser integrates a grammar parser with a classifier to find the optimal segmentation and labels, and makes top-down future predictions. Experiments show that our method significantly outperforms other approaches for future human activity prediction.

Details

ICRA Conference 2018 Conference Paper

Intent-Aware Multi-Agent Reinforcement Learning

Siyuan Qi
Song-Chun Zhu

This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other agents' intents into consideration. Instead of formulating the learning problem as a partially observable Markov decision process (POMDP), we propose a simple but effective linear function approximation of the utility function. It is based on the observation that for humans, other people's intents will pose an influence on our utility for a goal. The proposed framework has several major advantages: i) it is computationally feasible and guaranteed to converge. ii) It can easily integrate existing intent prediction and low-level planning algorithms. iii) It does not suffer from sparse feedbacks in the action space. We experiment our algorithm in a real-world problem that is non-episodic, and the number of agents and goals can vary over time. Our algorithm is trained in a scene in which aerial robots and humans interact, and tested in a novel scene with a different environment. Experimental results show that our algorithm achieves the best performance and human-like behaviors emerge during the dynamic process.

Details

ICRA Conference 2018 Conference Paper

Unsupervised Learning of Hierarchical Models for Hand-Object Interactions

Xu Xie 0001
Hangxin Liu
Mark Edmonds
Feng Gao 0013
Siyuan Qi
Yixin Zhu 0001
Brandon Rothrock
Song-Chun Zhu

Contact forces of the hand are visually unobservable, but play a crucial role in understanding hand-object interactions. In this paper, we propose an unsupervised learning approach for manipulation event segmentation and manipulation event parsing. The proposed framework incorporates hand pose kinematics and contact forces using a low-cost easy-to-replicate tactile glove. We use a temporal grammar model to capture the hierarchical structure of events, integrating extracted force vectors from the raw sensory input of poses and forces. The temporal grammar is represented as a temporal And-Or graph (T-AOG), which can be induced in an unsupervised manner. We obtain the event labeling sequences by measuring the similarity between segments using the Dynamic Time Alignment Kernel (DTAK). Experimental results show that our method achieves high accuracy in manipulation event segmentation, recognition and parsing by utilizing both pose and force data.

Details

IROS Conference 2017 Conference Paper

Feeling the force: Integrating force and pose for fluent discovery through imitation learning to open medicine bottles

Mark Edmonds
Feng Gao 0013
Xu Xie 0001
Hangxin Liu
Siyuan Qi
Yixin Zhu 0001
Brandon Rothrock
Song-Chun Zhu

Learning complex robot manipulation policies for real-world objects is challenging, often requiring significant tuning within controlled environments. In this paper, we learn a manipulation model to execute tasks with multiple stages and variable structure, which typically are not suitable for most robot manipulation approaches. The model is learned from human demonstration using a tactile glove that measures both hand pose and contact forces. The tactile glove enables observation of visually latent changes in the scene, specifically the forces imposed to unlock the child-safety mechanisms of medicine bottles. From these observations, we learn an action planner through both a top-down stochastic grammar model (And-Or graph) to represent the compositional nature of the task sequence and a bottom-up discriminative model from the observed poses and forces. These two terms are combined during planning to select the next optimal action. We present a method for transferring this human-specific knowledge onto a robot platform and demonstrate that the robot can perform successful manipulations of unseen objects with similar task structure.

Details