相关论文: A Computational Model for Situated Task Learning w…

This paper presents an approach to learning from situated, interactive tutorial instruction within an ongoing agent. Tutorial instruction is a flexible (and thus powerful) paradigm for teaching tasks because it allows an instructor to…

We present an approach for acquiring grounded representations of words from mixed-initiative, situated interactions with a human instructor. The work focuses on the acquisition of diverse types of knowledge including perceptual, semantic,…

We study a collaborative scenario where a user not only instructs a system to complete tasks, but also acts alongside it. This allows the user to adapt to the system abilities by changing their language or deciding to simply accomplish some…

Autonomous agents are able to draw on a wide variety of potential sources of task knowledge; however current approaches invariably focus on only one or two. Here we investigate the challenges and impact of exploiting diverse knowledge…

In this paper we present a computational modeling account of an active self in artificial agents. In particular we focus on how an agent can be equipped with a sense of control and how it arises in autonomous situated action and, in turn,…

We propose a computational model of situated language comprehension based on the Indexical Hypothesis that generates meaning representations by translating amodal linguistic symbols to modal representations of beliefs, knowledge, and…

Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…

When deploying autonomous agents in the real world, we need effective ways of communicating objectives to them. Traditional skill learning has revolved around reinforcement and imitation learning, each with rigid constraints on the format…

Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access…

Humans have developed the capability to teach relevant aspects of new or adapted tasks to a social peer with very few task demonstrations by making use of scaffolding strategies that leverage prior knowledge and importantly prior joint…

We introduce a novel setting, wherein an agent needs to learn a task from a demonstration of a related task with the difference between the tasks communicated in natural language. The proposed setting allows reusing demonstrations from…

We present a system for interpretable, symbolic, interactive task learning from dialog using a GPT model as a conversational front-end. The learned tasks are represented as hierarchical decompositions of predicate-argument structures with…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learning of interactive policies that coordinate with humans in…

Architectures that implement the Common Model of Cognition - Soar, ACT-R, and Sigma - have a prominent place in research on cognitive modeling as well as on designing complex intelligent agents. In this paper, we explore how computational…

In recent years, data-intensive AI, particularly the domain of natural language processing and understanding, has seen significant progress driven by the advent of large datasets and deep neural networks that have sidelined more classic AI…

In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact location and contact timing to be unknown. To learn such a policy,…

In the fields of computation and neuroscience, much is still unknown about the underlying computations that enable key cognitive functions including learning, memory, abstraction and behavior. This paper proposes a mathematical and…

This paper presents a cloud-based learning model predictive controller that integrates three interacting components: a set of agents, which must learn to perform a finite set of tasks with the minimum possible local cost; a coordinator,…

The human's cognitive capacity for problem solving is always limited to his/her educational background, skills, experiences, etc. Hence, it is often insufficient to bring solution to extraordinary problems especially when there is a time…