相关论文: Bootstrapping Intrinsically Motivated Learning wit…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Positive affect has been linked to increased interest, curiosity and satisfaction in human learning. In reinforcement learning, extrinsic rewards are often sparse and difficult to define, intrinsically motivated learning can help address…

This paper explores an intrinsic motivation for mutual awareness, hypothesizing that humans possess a fundamental drive to understand and to be understood even in the absence of extrinsic rewards. Through simulations of the perceptual…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

We propose and validate a novel car following model based on deep reinforcement learning. Our model is trained to maximize externally given reward functions for the free and car-following regimes rather than reproducing existing follower…

Groups coordinate more effectively when individuals are able to learn from others' successes. But acquiring such knowledge is not always easy, especially in real-world environments where success is hidden from public view. We suggest that…

Deep Reinforcement Learning has enabled the control of increasingly complex and high-dimensional problems. However, the need of vast amounts of data before reasonable performance is attained prevents its widespread application. We employ…

We investigate the task of learning to follow natural language instructions by jointly reasoning with visual observations and language inputs. In contrast to existing methods which start with learning from demonstrations (LfD) and then use…

Efficient exploration remains a challenging problem in reinforcement learning, especially for tasks where extrinsic rewards from environments are sparse or even totally disregarded. Significant advances based on intrinsic motivation show…

Sustaining the effectiveness of behavior change technologies remains a key challenge. AI self-modeling, which generates personalized portrayals of one's ideal self, has shown promise for motivating behavior change, yet prior work largely…

Imitation learning is a powerful approach for learning autonomous driving policy by leveraging data from expert driver demonstrations. However, driving policies trained via imitation learning that neglect the causal structure of expert…

Current reinforcement learning algorithms struggle in sparse and complex environments, most notably in long-horizon manipulation tasks entailing a plethora of different sequences. In this work, we propose the Intrinsically Guided…

Advancements in reinforcement learning have produced a variety of complex and useful intrinsic driving forces; crucially, these drivers operate under a direct conditioning paradigm. This form of conditioning limits our agents' capacity by…

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:…

Regardless of the marked differences between biological and artificial neural systems, one fundamental similarity is that they are essentially dynamical systems that can learn to imitate other dynamical systems, without knowing their…

We study the problem of sample efficient reinforcement learning, where prior data such as demonstrations are provided for initialization in lieu of a dense reward signal. A natural approach is to incorporate an imitation learning objective,…

Physical agents that can autonomously generate engaging, life-like behaviour will lead to more responsive and interesting robots and other autonomous systems. Although many advances have been made for one-to-one interactions in well…

Social learning is widely observed in many species. Less experienced agents copy successful behaviors, exhibited by more experienced individuals. Nevertheless, the dynamical mechanisms behind this process remain largely unknown. Here we…

Current imitation learning approaches, predominantly based on deep neural networks (DNNs), offer efficient mechanisms for learning driving policies from real-world datasets. However, they suffer from inherent limitations in interpretability…

Reinforcement learning for embodied agents is a challenging problem. The accumulated reward to be optimized is often a very rugged function, and gradient methods are impaired by many local optimizers. We demonstrate, in an experimental…