相关论文: Intrinsically Motivated Goal Exploration Processes…

Mathematical problem generation (MPG) is a significant research direction in the field of intelligent education. In recent years, the rapid development of large language models (LLMs) has enabled new technological approaches to…

We study the problem of reinforcement learning in infinite-horizon discounted linear Markov decision processes (MDPs), and propose the first computationally efficient algorithm achieving rate-optimal regret guarantees in this setting. Our…

The goal of coordinated multi-robot exploration tasks is to employ a team of autonomous robots to explore an unknown environment as quickly as possible. Compared with human-designed methods, which began with heuristic and rule-based…

In the quest for autonomous agents learning open-ended repertoires of skills, most works take a Piagetian perspective: learning trajectories are the results of interactions between developmental agents and their physical environment. The…

Open-ended learning agents must efficiently prioritize goals in vast possibility spaces, focusing on those that maximize learning progress (LP). When such autotelic exploration is achieved by LLM agents trained with online RL in…

How do you incentivize self-interested agents to $\textit{explore}$ when they prefer to $\textit{exploit}$? We consider complex exploration problems, where each agent faces the same (but unknown) MDP. In contrast with traditional…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

Learning in environments with sparse rewards remains a fundamental challenge in reinforcement learning. Artificial curiosity addresses this limitation through intrinsic rewards to guide exploration, however, the precise formulation of these…

We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…

Future sequence represents the outcome after executing the action into the environment (i.e. the trajectory onwards). When driven by the information-theoretic concept of mutual information, it seeks maximally informative consequences.…

Reinforcement learning algorithms use correlations between policies and rewards to improve agent performance. But in dynamic or sparsely rewarding environments these correlations are often too small, or rewarding events are too infrequent…

Humans are expert explorers. Understanding the computational cognitive mechanisms that support this efficiency can advance the study of the human mind and enable more efficient exploration algorithms. We hypothesize that humans explore new…

We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…

Although unified MLLMs aim to unify generation and understanding, they are considered to exhibit an internal gap, with understanding outperforming generation. Through large-scale evaluation across multiple MLLMs and tasks, we confirm the…

The ability to automatically learn movements and behaviors of increasing complexity is a long-term goal in autonomous systems. Indeed, this is a very complex problem that involves understanding how knowledge is acquired and reused by humans…

In the last few years, the research activity around reinforcement learning tasks formulated over environments with sparse rewards has been especially notable. Among the numerous approaches proposed to deal with these hard exploration…

Driving behavior modeling is of great importance for designing safe, smart, and personalized autonomous driving systems. In this paper, an internal reward function-based driving model that emulates the human's decision-making mechanism is…

Curiosity has established itself as a powerful exploration strategy in deep reinforcement learning. Notably, leveraging expected future novelty as intrinsic motivation has been shown to efficiently generate exploratory trajectories, as well…

Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…

Exploring in environments with high-dimensional observations is hard. One promising approach for exploration is to use intrinsic rewards, which often boils down to estimating "novelty" of states, transitions, or trajectories with deep…