Related papers: Intrinsically Motivated Goal Exploration Processes…

Recently there has been a proliferation of intrinsic motivation (IM) reward-shaping methods to learn in complex and sparse-reward environments. These methods can often inadvertently change the set of optimal policies in an environment,…

Humans and animals explore their environment and acquire useful skills even in the absence of clear goals, exhibiting intrinsic motivation. The study of intrinsic motivation in artificial agents is concerned with the following question:…

Today's AI systems have human-designed, fixed architectures and cannot autonomously and continuously improve themselves. The advance of AI could itself be automated. If done safely, that would accelerate AI development and allow us to reap…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

Iterative self-improvement fine-tunes an autoregressive large language model (LLM) on reward-verified outputs generated by the LLM itself. In contrast to the empirical success of self-improvement, the theoretical foundation of this…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

An ideal embodied agent should possess lifelong learning capabilities to handle long-horizon and complex tasks, enabling continuous operation in general environments. This not only requires the agent to accurately accomplish given tasks but…

Task planning for autonomous agents has typically been done using deep learning models and simulation-based reinforcement learning. This research proposes combining inductive learning techniques with goal-directed answer set programming to…

In this paper, we present a new intrinsically motivated actor-critic algorithm for learning continuous motor skills directly from raw visual input. Our neural architecture is composed of a critic and an actor network. Both networks receive…

In this extended abstract we discuss the opportunities and challenges of studying intrinsically-motivated agents for exploration in textual environments. We argue that there is important synergy between text environments and autonomous…

The reinforcement learning research area contains a wide range of methods for solving the problems of intelligent agent control. Despite the progress that has been made, the task of creating a highly autonomous agent is still a significant…

We present IBSEAD or distributed autonomous entity systems based Interaction - a learning algorithm for the computer to self-evolve in a self-obsessed manner. This learning algorithm will present the computer to look at the internal and…

Although most theories posit that natural behavior can be explained as maximizing some form of extrinsic reward, often called utility, some behaviors appear to be reward independent. For instance, spontaneous motor babbling in human…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

To be capable of lifelong learning in a real-life environment, robots have to tackle multiple challenges. Being able to relate physical properties they may observe in their environment to possible interactions they may have is one of them.…

Humans excel in grasping objects through diverse and robust policies, many of which are so probabilistically rare that exploration-based learning methods hardly observe and learn. Inspired by the human learning process, we propose a method…

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…

Solving tasks with sparse rewards is one of the most important challenges in reinforcement learning. In the single-agent setting, this challenge is addressed by introducing intrinsic rewards that motivate agents to explore unseen regions of…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Learning complex robot behaviors through interaction requires structured exploration. Planning should target interactions with the potential to optimize long-term performance, while only reducing uncertainty where conducive to this…