Related papers: Moving Forward by Moving Backward: Embedding Actio…

Given a simple request like Put a washed apple in the kitchen fridge, humans can reason in purely abstract terms by imagining action sequences and scoring their likelihood of success, prototypicality, and efficiency, all without moving a…

Predicting the behaviors of other road users is crucial to safe and intelligent decision-making for autonomous vehicles (AVs). However, most motion prediction models ignore the influence of the AV's actions and the planning module has to…

In many, if not every realistic sequential decision-making task, the decision-making agent is not able to model the full complexity of the world. The environment is often much larger and more complex than the agent, a setting also known as…

We explore how different types and uses of memory can aid spatial navigation in changing uncertain environments. In the simple foraging task we study, every day, our agent has to find its way from its home, through barriers, to food.…

Transfer Learning (TL) offers the potential to accelerate learning by transferring knowledge across tasks. However, it faces critical challenges such as negative transfer, domain adaptation and inefficiency in selecting solid source…

As Large Language Models (LLMs) move from curated training sets into open-ended real-world environments, a fundamental limitation emerges: static training cannot keep pace with continual deployment environment change. Scaling training-time…

Current research on Vision-Language-Action (VLA) models predominantly focuses on enhancing generalization through established reasoning techniques. While effective, these improvements invariably increase computational complexity and…

Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…

When developing reinforcement learning agents, the standard approach is to train an agent to converge to a fixed policy that is as close to optimal as possible for a single fixed reward function. If different agent behaviour is required in…

Agents powered by large language models (LLMs) have demonstrated strong planning and decision-making capabilities in complex embodied environments. However, such agents often suffer from inefficiencies in multi-turn interactions, frequently…

The enactive approach to cognition is typically proposed as a viable alternative to traditional cognitive science. Enactive cognition displaces the explanatory focus from the internal representations of the agent to the direct sensorimotor…

In model-based reinforcement learning, the agent interleaves between model learning and planning. These two components are inextricably intertwined. If the model is not able to provide sensible long-term prediction, the executed planner…

Modeling how human moves in the space is useful for policy-making in transportation, public safety, and public health. Human movements can be viewed as a dynamic process that human transits between states (\eg, locations) over time. In the…

Complex physical tasks entail a sequence of object interactions, each with its own preconditions -- which can be difficult for robotic agents to learn efficiently solely through their own experience. We introduce an approach to discover…

Vision-Language-Action (VLA) models have achieved strong semantic generalization for embodied policy learning, yet they learn reactive observation-to-action mappings without explicitly modeling how the physical world evolves under…

Given a Markov decision process (MDP), we seek to learn representations for a range of policies to facilitate behavior steering at test time. As policies of an MDP are uniquely determined by their occupancy measures, we propose modeling…

Embodied artificial intelligence emphasizes the role of an agent's body in generating human-like behaviors. The recent efforts on EmbodiedAI pay a lot of attention to building up machine learning models to possess perceiving, planning, and…

Generating competitive strategies and performing continuous motion planning simultaneously in an adversarial setting is a challenging problem. In addition, understanding the intent of other agents is crucial to deploying autonomous systems…

We propose an approach to learning agents for active robotic mapping, where the goal is to map the environment as quickly as possible. The agent learns to map efficiently in simulated environments by receiving rewards corresponding to how…

How can agents learn internal models that veridically represent interactions with the real world is a largely open question. As machine learning is moving towards representations containing not just observational but also interventional…