相关论文: Neural Modular Control for Embodied Question Answe…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

Embodied navigation agents powered by large language models have shown strong performance on individual tasks but struggle to continually acquire new navigation skills, which suffer from catastrophic forgetting. We formalize this challenge…

Decision-making in complex, continuous multi-task environments is often hindered by the difficulty of obtaining accurate models for planning and the inefficiency of learning purely from trial and error. While precise environment dynamics…

This work investigates the formal policy synthesis of continuous-state stochastic dynamic systems given high-level specifications in linear temporal logic. To learn an optimal policy that maximizes the satisfaction probability, we take a…

Humans commonly solve complex problems by decomposing them into easier subproblems and then combining the subproblem solutions. This type of compositional reasoning permits reuse of the subproblem solutions when tackling future tasks that…

We present a modular neural network architecture Main that learns algorithms given a set of input-output examples. Main consists of a neural controller that interacts with a variable-length input tape and learns to compose modules together…

Conventional reinforcement learning (RL) methods can successfully solve a wide range of sequential decision problems. However, learning policies that can generalize predictably across multiple tasks in a setting with non-Markovian reward…

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Deep imitation learning requires many expert demonstrations, which can be hard to obtain, especially when many tasks are involved. However, different tasks often share similarities, so learning them jointly can greatly benefit them and…

As robots become increasingly capable of operating over extended periods -- spanning days, weeks, and even months -- they are expected to accumulate knowledge of their environments and leverage this experience to assist humans more…

We apply recent advances in deep generative modeling to the task of imitation learning from biological agents. Specifically, we apply variations of the variational recurrent neural network model to a multi-agent setting where we learn…

Large vision-language models have recently demonstrated impressive performance in planning and control tasks, driving interest in their application to real-world robotics. However, deploying these models for reasoning in embodied contexts…

Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…

We study how to effectively leverage expert feedback to learn sequential decision-making policies. We focus on problems with sparse rewards and long time horizons, which typically pose significant challenges in reinforcement learning. We…

This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end…

We propose an exploration method that incorporates look-ahead search over basic learnt skills and their dynamics, and use it for reinforcement learning (RL) of manipulation policies . Our skills are multi-goal policies learned in isolation…

Many tasks in control, robotics, and planning can be specified using desired goal configurations for various entities in the environment. Learning goal-conditioned policies is a natural paradigm to solve such tasks. However, current…

The compositional structure of language enables humans to decompose complex phrases and map them to novel visual concepts, showcasing flexible intelligence. While several algorithms exhibit compositionality, they fail to elucidate how…

This work presents a Hierarchical Multi-Agent Reinforcement Learning framework for analyzing simulated air combat scenarios involving heterogeneous agents. The objective is to identify effective Courses of Action that lead to mission…