相关论文: Reward Learning from Narrated Demonstrations

Autonomous intelligent agents must bridge computational challenges at disparate levels of abstraction, from the low-level spaces of sensory input and motor commands to the high-level domain of abstract reasoning and planning. A key question…

Distributional models learn representations of words from text, but are criticized for their lack of grounding, or the linking of text to the non-linguistic world. Grounded language models have had success in learning to connect concrete…

A desirable trait of an artificial agent acting in the visual world is to continually learn a sequence of language-informed tasks while striking a balance between sufficiently specializing in each task and building a generalized knowledge…

In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning objectives and task descriptions. Learning from expert data can…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that integrating data-driven rewards with rule-based objectives…

The task of conducting visually grounded dialog involves learning goal-oriented cooperative dialog between autonomous agents who exchange information about a scene through several rounds of questions and answers in natural language. We…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

We study continual learning for natural language instruction generation, by observing human users' instruction execution. We focus on a collaborative scenario, where the system both acts and delegates tasks to human users using natural…

Humans teach others about the world through language and demonstration. When might one of these modalities be more effective than the other? In this work, we study the factors that modulate the effectiveness of language vs. demonstration…

Reinforcement learning offers the promise of automating the acquisition of complex behavioral skills. However, compared to commonly used and well-understood supervised learning methods, reinforcement learning algorithms can be brittle,…

Grounded video description (GVD) encourages captioning models to attend to appropriate video regions (e.g., objects) dynamically and generate a description. Such a setting can help explain the decisions of captioning models and prevents the…

We present Language-Image Value learning (LIV), a unified objective for vision-language representation and reward learning from action-free videos with text annotations. Exploiting a novel connection between dual reinforcement learning and…

For a natural social human-robot interaction, it is essential for a robot to learn the human-like social skills. However, learning such skills is notoriously hard due to the limited availability of direct instructions from people to teach a…

We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

Robotic systems that rely primarily on self-supervised learning have the potential to decrease the amount of human annotation and engineering effort required to learn control strategies. In the same way that prior robotic systems have…

Hierarchical reinforcement learning has been a compelling approach for achieving goal directed behavior over long sequences of actions. However, it has been challenging to implement in realistic or open-ended environments. A main challenge…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

Reward function design and exploration time are arguably the biggest obstacles to the deployment of reinforcement learning (RL) agents in the real world. In many real-world tasks, designing a reward function takes considerable hand…