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

An embodied task such as embodied question answering (EmbodiedQA), requires an agent to explore the environment and collect clues to answer a given question that related with specific objects in the scene. The solution of such task usually…

Communications standards are designed via committees of humans holding repeated meetings over months or even years until consensus is achieved. This includes decisions regarding the modulation and coding schemes to be supported over an air…

Can world knowledge learned by large language models (LLMs) be used to act in interactive environments? In this paper, we investigate the possibility of grounding high-level tasks, expressed in natural language (e.g. "make breakfast"), to a…

Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time…

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…

Transfer learning has recently become the dominant paradigm of machine learning. Pre-trained models fine-tuned for downstream tasks achieve better performance with fewer labelled examples. Nonetheless, it remains unclear how to develop…

We develop a metalearning approach for learning hierarchically structured policies, improving sample efficiency on unseen tasks through the use of shared primitives---policies that are executed for large numbers of timesteps. Specifically,…

Effective generalization in robotic manipulation requires representations that capture invariant patterns of interaction across environments and tasks. We present a self-supervised framework for learning hierarchical manipulation concepts…

Integrating visual and linguistic information into a single multimodal representation is an unsolved problem with wide-reaching applications to both natural language processing and computer vision. In this paper, we present a simple method…

Finding an object of a specific class in an unseen environment remains an unsolved navigation problem. Hence, we propose a hierarchical learning-based method for object navigation. The top-level is capable of high-level planning, and…

Guided policy search algorithms can be used to optimize complex nonlinear policies, such as deep neural networks, without directly computing policy gradients in the high-dimensional parameter space. Instead, these methods use supervised…

Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to…

We introduce a learning-based approach for room navigation using semantic maps. Our proposed architecture learns to predict top-down belief maps of regions that lie beyond the agent's field of view while modeling architectural and stylistic…

In this paper we propose a new framework - MoViLan (Modular Vision and Language) for execution of visually grounded natural language instructions for day to day indoor household tasks. While several data-driven, end-to-end learning…

Solving long-horizon goal-conditioned tasks remains a significant challenge in reinforcement learning (RL). Hierarchical reinforcement learning (HRL) addresses this by decomposing tasks into more manageable sub-tasks, but the automatic…

In this work, we take a representation learning perspective on hierarchical reinforcement learning, where the problem of learning lower layers in a hierarchy is transformed into the problem of learning trajectory-level generative models. We…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

The heterogeneity-gap between different modalities brings a significant challenge to multimedia information retrieval. Some studies formalize the cross-modal retrieval tasks as a ranking problem and learn a shared multi-modal embedding…

Building a dialogue agent to fulfill complex tasks, such as travel planning, is challenging because the agent has to learn to collectively complete multiple subtasks. For example, the agent needs to reserve a hotel and book a flight so that…

Learning interpretable and transferable subpolicies and performing task decomposition from a single, complex task is difficult. Some traditional hierarchical reinforcement learning techniques enforce this decomposition in a top-down manner,…