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Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determining where to interact in complex visual scenes. While…

The emergence of large language models (LLMs) has significantly advanced the simulation of believable interactive agents. However, the substantial cost on maintaining the prolonged agent interactions poses challenge over the deployment of…

Autonomous agents must often detect affordances: the set of behaviors enabled by a situation. Affordance detection is particularly helpful in domains with large action spaces, allowing the agent to prune its search space by avoiding futile…

Reinforcement learning often needs to deal with the exponential growth of states and actions when exploring optimal control in high-dimensional spaces (often known as the curse of dimensionality). In this work, we address this issue by…

As trajectories sampled by policies used by reinforcement learning (RL) and generative flow networks (GFlowNets) grow longer, credit assignment and exploration become more challenging, and the long planning horizon hinders mode discovery…

Robots equipped with reinforcement learning (RL) have the potential to learn a wide range of skills solely from a reward signal. However, obtaining a robust and dense reward signal for general manipulation tasks remains a challenge.…

While code large language models have demonstrated remarkable progress in code generation, the generated code often exhibits poor runtime efficiency, limiting its practical application in performance-sensitive scenarios. To address this…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…

Model-free Reinforcement Learning (RL) generally suffers from poor sample complexity, mostly due to the need to exhaustively explore the state-action space to find well-performing policies. On the other hand, we postulate that expert…

Online question-and-answer (Q\&A) systems based on the Large Language Model (LLM) have progressively diverged from recreational to professional use. This paper proposed a Multi-Agent framework with environmentally reinforcement learning…

Many real-world settings involve costs for performing actions; transaction costs in financial systems and fuel costs being common examples. In these settings, performing actions at each time step quickly accumulates costs leading to vastly…

In an effort to better understand the different ways in which the discount factor affects the optimization process in reinforcement learning, we designed a set of experiments to study each effect in isolation. Our analysis reveals that the…

Reinforcement learning algorithms usually assume that all actions are always available to an agent. However, both people and animals understand the general link between the features of their environment and the actions that are feasible.…

Flexible, goal-directed behavior is a fundamental aspect of human life. Based on the free energy minimization principle, the theory of active inference formalizes the generation of such behavior from a computational neuroscience…

Reinforcement learning (RL) is crucial for data science decision-making but suffers from sample inefficiency, particularly in real-world scenarios with costly physical interactions. This paper introduces a novel human-inspired framework to…

Affordance refers to the perception of possible actions allowed by an object. Despite its relevance to human-computer interaction, no existing theory explains the mechanisms that underpin affordance-formation; that is, how affordances are…

Reinforcement learning (RL) agents improve through trial-and-error, but when reward is sparse and the agent cannot discover successful action sequences, learning stagnates. This has been a notable problem in training deep RL agents to…

Planning with a learned model is arguably a key component of intelligence. There are several challenges in realizing such a component in large-scale reinforcement learning (RL) problems. One such challenge is dealing effectively with…

Improving sample efficiency is central to Reinforcement Learning (RL), especially in environments where the rewards are sparse. Some recent approaches have proposed to specify reward functions as manually designed or learned reward…