All Outputs (3)

Counterfactual Explanation and Causal Inference In Service of Robustness in Robot Control (2020)
Presentation / Conference Contribution
Smith, S. C., & Ramamoorthy, S. (2020). Counterfactual Explanation and Causal Inference In Service of Robustness in Robot Control. In 2020 Joint IEEE 10th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob). https:/

We propose an architecture for training generative models of counterfactual conditionals of the form, `can we modify event A to cause B instead of C?', motivated by applications in robot control. Using an `adversarial training' paradigm, an image-bas... Read More about Counterfactual Explanation and Causal Inference In Service of Robustness in Robot Control.

The DIAMOND Model: Deep Recurrent Neural Networks for Self-Organizing Robot Control (2020)
Journal Article
Smith, S. C., Dharmadi, R., Imrie, C., Si, B., & Herrmann, J. M. (2020). The DIAMOND Model: Deep Recurrent Neural Networks for Self-Organizing Robot Control. Frontiers in Neurorobotics, 14, Article 62. https://doi.org/10.3389/fnbot.2020.00062

The proposed architecture applies the principle of predictive coding and deep learning in a brain-inspired approach to robotic sensorimotor control. It is composed of many layers each of which is a recurrent network. The component networks can be spo... Read More about The DIAMOND Model: Deep Recurrent Neural Networks for Self-Organizing Robot Control.

Semi-supervised learning from demonstration through program synthesis: An inspection robot case study (2020)
Presentation / Conference Contribution
Smith, S. C., & Ramamoorthy, S. (2020). Semi-supervised learning from demonstration through program synthesis: An inspection robot case study. In R. C. Cardoso, A. Ferrando, D. Briola, C. Menghi, & T. Ahlbrecht (Eds.), Proceedings of the First Workshop on

Semi-supervised learning improves the performance of supervised machine learning by leveraging methods from unsupervised learning to extract information not explicitly available in the labels. Through the design of a system that enables a robot to le... Read More about Semi-supervised learning from demonstration through program synthesis: An inspection robot case study.