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One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

Devising intelligent agents able to live in an environment and learn by observing the surroundings is a longstanding goal of Artificial Intelligence. From a bare Machine Learning perspective, challenges arise when the agent is prevented…

The performance of deep neural networks improves with more annotated data. The problem is that the budget for annotation is limited. One solution to this is active learning, where a model asks human to annotate data that it perceived as…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

To leverage the power of big data from source tasks and overcome the scarcity of the target task samples, representation learning based on multi-task pretraining has become a standard approach in many applications. However, up until now,…

Recent progress in artificial intelligence has renewed interest in building machines that learn like animals. Almost all of the work comparing learning across biological and artificial systems comes from studies where animals and machines…

The composition of elementary behaviors to solve challenging transfer learning problems is one of the key elements in building intelligent machines. To date, there has been plenty of work on learning task-specific policies or skills but…

It is still challenging to build an AI system that can perform tasks that involve vision and language at human level. So far, researchers have singled out individual tasks separately, for each of which they have designed networks and…

Human actions are based on the mental perception of the environment. Even when all the aspects of an environment are not visible, humans have an internal mental model that can generalize the partially visible scenes to fully constructed and…

Despite recent progress in reinforcement learning (RL) from raw pixel data, sample inefficiency continues to present a substantial obstacle. Prior works have attempted to address this challenge by creating self-supervised auxiliary tasks,…

Current approaches to embodied AI tend to learn policies from expert demonstrations. However, without a mechanism to evaluate the quality of demonstrated actions, they are limited to learning from optimal behaviour, or they risk replicating…

In human neuroscience, machine learning can help reveal lower-dimensional neural representations relevant to subjects' behavior. However, state-of-the-art models typically require large datasets to train, so are prone to overfitting on…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…

Meta-learning approaches have been proposed to tackle the few-shot learning problem.Typically, a meta-learner is trained on a variety of tasks in the hopes of being generalizable to new tasks. However, the generalizability on new tasks of a…

How to accurately learn task-relevant state representations from high-dimensional observations with visual distractions is a realistic and challenging problem in visual reinforcement learning. Recently, unsupervised representation learning…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Goal-conditioned reinforcement learning (GCRL) allows agents to learn diverse objectives using a unified policy. The success of GCRL, however, is contingent on the choice of goal representation. In this work, we propose a mask-based goal…

To increase autonomy in reinforcement learning, agents need to learn useful behaviours without reliance on manually designed reward functions. To that end, skill discovery methods have been used to learn the intrinsic options available to…