9 papers
Building Generalization Into Behavior Generation Via Adaptive Compositions of Regularities
Aravind Battaje, Malte Bernhard, Vito Mengers +1
Generalization in robotics requires prior knowledge about how the world is structured, yet this structure changes from one situation to the next. This paper investigates the propos…
World-Task Factorization for Robot Learning
Eduardo Sebastián, Adrian Pfisterer, Vito Mengers +2
Robot learning must produce policies that generalize to new combinations of constraints, teammates, and environments. To achieve this, we must structurally factor the policy, which…
Riding the Shifting Potential: When Reactive Control Suffices for Multi-Goal Behavior
Vito Mengers, Oliver Brock
Reactive control is often considered insufficient for multi-objective tasks because conflicting objectives give rise to local minima. We argue this limitation is not inherent but a…
A Mechanistic Model for Collective Motion from Sensorimotor Regularities
Vito Mengers, Bao Duc Cao, Oliver Brock
Collective behavior in animals has long been modeled through self-propelled particle models, which reproduce striking group-level phenomena through abstract interaction forces. Yet…
No Plan, Yet Human: A Reactive Robotics Model Predicts Human Planning Failures on a Clinical Task
Michael Migacev, Vito Mengers, Antonia Köngeter +1
Understanding why some sequential planning problems are harder than others requires models that go beyond average performance. They should capture the specific pattern of which pro…
Coupled Particle Filters for Robust Affordance Estimation
Patrick Lowin, Vito Mengers, Oliver Brock
Robotic affordance estimation is challenging due to visual, geometric, and semantic ambiguities in sensory input. We propose a method that disambiguates these signals using two cou…