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Precise object manipulation and placement is a common problem for household robots, surgery robots, and robots working on in-situ construction. Prior work using computer vision, depth sensors, and reinforcement learning lacks the ability to…

Many value-based deep reinforcement learning algorithms rely on target networks - lagged copies of the online network - to stabilize training. While effective, this mechanism introduces a fundamental stability-recency tradeoff: slower…

Reinforcement Learning (RL) is a general framework concerned with an agent that seeks to maximize rewards in an environment. The learning typically happens through trial and error using explorative methods, such as epsilon-greedy. There are…

There has been a significant recent progress in the field of Embodied AI with researchers developing models and algorithms enabling embodied agents to navigate and interact within completely unseen environments. In this paper, we propose a…

In traditional reinforcement learning (RL), the learner aims to solve a single objective optimization problem: find the policy that maximizes expected reward. However, in many real-world settings, it is important to optimize over multiple…

Community GPU platforms are emerging as a cost-effective and democratized alternative to centralized GPU clusters for AI workloads, aggregating idle consumer GPUs from globally distributed and heterogeneous environments. However, their…

Aligning language models with preferences can be posed as approximating a target distribution representing some desired behavior. Existing approaches differ both in the functional form of the target distribution and the algorithm used to…

Domain generalization aims to address the domain shift between training and testing data. To learn the domain invariant representations, the model is usually trained on multiple domains. It has been found that the gradients of network…

To coordinate with other systems, agents must be able to determine what the systems are currently doing and predict what they will be doing in the future---plan and goal recognition. There are many methods for plan and goal recognition, but…

Multi-agent reinforcement learning in mixed-motive settings presents a fundamental challenge: agents must balance individual interests with collective goals, which are neither fully aligned nor strictly opposed. To address this, reward…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

Current robotic grasping methods often rely on estimating the pose of the target object, explicitly predicting grasp poses, or implicitly estimating grasp success probabilities. In this work, we propose a novel approach that directly maps…

Learning to rank (LTR) plays a crucial role in various Information Retrieval (IR) tasks. Although supervised LTR methods based on fine-grained relevance labels (e.g., document-level annotations) have achieved significant success, their…

Despite recent advances, goal-directed generation of structured discrete data remains challenging. For problems such as program synthesis (generating source code) and materials design (generating molecules), finding examples which satisfy…

Policy learning can be used to extract individualized treatment regimes from observational data in healthcare, civics, e-commerce, and beyond. One big hurdle to policy learning is a commonplace lack of overlap in the data for different…

Goal instructions for autonomous AI agents cannot assume that objects have unique names. Instead, objects in goals must be referred to by providing suitable descriptions. However, this raises problems in both classical planning and…

Object-centric learning aims to decompose an input image into a set of meaningful object files (slots). These latent object representations enable a variety of downstream tasks. Yet, object-centric learning struggles on real-world datasets,…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

Model stealing attacks present a dilemma for public machine learning APIs. To protect financial investments, companies may be forced to withhold important information about their models that could facilitate theft, including uncertainty…

In automated planning, recognising the goal of an agent from a trace of observations is an important task with many applications. The state-of-the-art approaches to goal recognition rely on the application of planning techniques, which…