相关论文: RTFM: Generalising to Novel Environment Dynamics v…

Reinforcement learning is a framework for learning to act sequentially in an unknown environment. We propose a natural approach for modeling policy structure in policy gradients. The key idea is to optimize for a subset of future rewards:…

Reading to act is a prevalent but challenging task which requires the ability to reason from a concise instruction. However, previous works face the semantic mismatch between the low-level actions and the high-level language descriptions…

In the sequential decision making setting, an agent aims to achieve systematic generalization over a large, possibly infinite, set of environments. Such environments are modeled as discrete Markov decision processes with both states and…

The high sample complexity of reinforcement learning challenges its use in practice. A promising approach is to quickly adapt pre-trained policies to new environments. Existing methods for this policy adaptation problem typically rely on…

Learning algorithms are enabling robots to solve increasingly challenging real-world tasks. These approaches often rely on demonstrations and reproduce the behavior shown. Unexpected changes in the environment may require using different…

Despite recent breakthroughs in reinforcement learning (RL) and imitation learning (IL), existing algorithms fail to generalize beyond the training environments. In reality, humans can adapt to new tasks quickly by leveraging prior…

The indoor environment significantly impacts human health and well-being; enhancing health and reducing energy consumption in these settings is a central research focus. With the advancement of Information and Communication Technology…

Reinforcement learning (RL) is one of the active fields in machine learning, demonstrating remarkable potential in tackling real-world challenges. Despite its promising prospects, this methodology has encountered with issues and challenges,…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

We are interested in learning models of non-stationary environments, which can be framed as a multi-task learning problem. Model-free reinforcement learning algorithms can achieve good asymptotic performance in multi-task learning at a cost…

Model-based Reinforcement Learning approaches have the promise of being sample efficient. Much of the progress in learning dynamics models in RL has been made by learning models via supervised learning. But traditional model-based…

Recently, incorporating natural language instructions into reinforcement learning (RL) to learn semantically meaningful representations and foster generalization has caught many concerns. However, the semantical information in language…

Explaining reinforcement learning agents is challenging because policies emerge from complex reward structures and neural representations that are difficult for humans to interpret. Existing approaches often rely on curated demonstrations…

A random recurrent neural network, called a reservoir, can be used to learn robot movements conditioned on context inputs that encode task goals. The Learning is achieved by mapping the random dynamics of the reservoir modulated by context…

Learning to locomote is one of the most common tasks in physics-based animation and deep reinforcement learning (RL). A learned policy is the product of the problem to be solved, as embodied by the RL environment, and the RL algorithm.…

Developing a generalist agent is a longstanding objective in artificial intelligence. Previous efforts utilizing extensive offline datasets from various tasks demonstrate remarkable performance in multitasking scenarios within Reinforcement…

Flow-matching policies have emerged as a powerful paradigm for generalist robotics. These models are trained to imitate an action chunk, conditioned on sensor observations and textual instructions. Often, training demonstrations are…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…

In this work we present a technique to use natural language to help reinforcement learning generalize to unseen environments. This technique uses neural machine translation, specifically the use of encoder-decoder networks, to learn…

Reinforcement fine-tuning (RFT) has shown promise for training LLM agents to perform multi-turn decision-making based on environment feedback. However, most existing evaluations remain largely in-domain: training and testing are conducted…