相关论文: Hierarchical Behavioral Repertoires with Unsupervi…

Quality-Diversity optimization is a new family of optimization algorithms that, instead of searching for a single optimal solution to solving a task, searches for a large collection of solutions that all solve the task in a different way.…

Intelligent agents need to select long sequences of actions to solve complex tasks. While humans easily break down tasks into subgoals and reach them through millions of muscle commands, current artificial intelligence is limited to tasks…

Quality-Diversity algorithms refer to a class of evolutionary algorithms designed to find a collection of diverse and high-performing solutions to a given problem. In robotics, such algorithms can be used for generating a collection of…

Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…

Mammals can generate autonomous behaviors in various complex environments through the coordination and interaction of activities at different levels of their central nervous system. In this paper, we propose a novel hierarchical learning…

We propose a hierarchical learning architecture for predictive control in unknown environments. We consider a constrained nonlinear dynamical system and assume the availability of state-input trajectories solving control tasks in different…

Sequence models in reinforcement learning require task knowledge to estimate the task policy. This paper presents a hierarchical algorithm for learning a sequence model from demonstrations. The high-level mechanism guides the low-level…

We tackle the problem of generalization to unseen configurations for dynamic tasks in the real world while learning from high-dimensional image input. The family of nonlinear dynamical system-based methods have successfully demonstrated…

Human activities are particularly complex and variable, and this makes challenging for deep learning models to reason about them. However, we note that such variability does have an underlying structure, composed of a hierarchy of patterns…

Adaptation capabilities, like damage recovery, are crucial for the deployment of robots in complex environments. Several works have demonstrated that using repertoires of pre-trained skills can enable robots to adapt to unforeseen…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

According to cognitive psychology and related disciplines, the development of complex problem-solving behaviour in biological agents depends on hierarchical cognitive mechanisms. Hierarchical reinforcement learning is a promising…

We explore using latent natural language instructions as an expressive and compositional representation of complex actions for hierarchical decision making. Rather than directly selecting micro-actions, our agent first generates a latent…

Self-organization is ubiquitous in nature and mind. However, machine learning and theories of cognition still barely touch the subject. The hurdle is that general patterns are difficult to define in terms of dynamical equations and…

Unsupervised skill learning aims to learn a rich repertoire of behaviors without external supervision, providing artificial agents with the ability to control and influence the environment. However, without appropriate knowledge and…

Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

Learning control policies to perform complex robotics tasks from human preference data presents significant challenges. On the one hand, the complexity of such tasks typically requires learning policies to perform a variety of subtasks,…

Deep learning algorithms demonstrate a surprising ability to learn high-dimensional tasks from limited examples. This is commonly attributed to the depth of neural networks, enabling them to build a hierarchy of abstract, low-dimensional…

While current deep learning models achieve high performance by learning statistical correlations from vast datasets,which stands in stark contrast to human learning. They lack the flexibility of humans-particularly preverbal infants-to…