相关论文: Implementing Inductive bias for different navigati…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

Neural models learn representations of high-dimensional data on low-dimensional manifolds. Multiple factors, including stochasticities in the training process, model architectures, and additional inductive biases, may induce different…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

In this paper, we study representation learning for multi-task decision-making in non-stationary environments. We consider the framework of sequential linear bandits, where the agent performs a series of tasks drawn from distinct sets…

The task of the brain is to look for structure in the external input. We study a network of integrate-and-fire neurons with several types of recurrent connections that learns the structure of its time-varying feedforward input by attempting…

We present results from numerical studies of supervised learning operations in recurrent networks considered as graphs, leading from a given set of input conditions to predetermined outputs. Graphs that have optimized their output for…

Inspired by animal navigation strategies, we introduce a novel computational model to navigate and map a space rooted in biologically inspired principles. Animals exhibit extraordinary navigation prowess, harnessing memory, imagination, and…

Agents navigating in 3D environments require some form of memory, which should hold a compact and actionable representation of the history of observations useful for decision taking and planning. In most end-to-end learning approaches the…

Deep reinforcement learning is a technique for solving problems in a variety of environments, ranging from Atari video games to stock trading. This method leverages deep neural network models to make decisions based on observations of a…

We study emergent communication in a multi-agent reinforcement learning setting, where the agents solve cooperative tasks and have access to a communication channel. The communication channel may consist of either discrete symbols or…

Deep reinforcement learning in continuous domains focuses on learning control policies that map states to distributions over actions that ideally concentrate on the optimal choices in each step. In multi-agent navigation problems, the…

Slow adaption processes, like synaptic and intrinsic plasticity, abound in the brain and shape the landscape for the neural dynamics occurring on substantially faster timescales. At any given time the network is characterized by a set of…

We consider the problem of learning preferences over trajectories for mobile manipulators such as personal robots and assembly line robots. The preferences we learn are more intricate than simple geometric constraints on trajectories; they…

Recently, implicit neural representations have gained popularity for learning-based 3D reconstruction. While demonstrating promising results, most implicit approaches are limited to comparably simple geometry of single objects and do not…

Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…

This study presents a novel representation learning model tailored for dynamic networks, which describes the continuously evolving relationships among individuals within a population. The problem is encapsulated in the dimension reduction…

\textit{Graph neural networks} (GNNs) are effective models for many dynamical systems consisting of entities and relations. Although most GNN applications assume a single type of entity and relation, many situations involve multiple types…

Recent work suggests goal-driven training of neural networks can be used to model neural activity in the brain. While response properties of neurons in artificial neural networks bear similarities to those in the brain, the network…

We propose a novel scene representation that encodes reaching distance -- the distance between any position in the scene to a goal along a feasible trajectory. We demonstrate that this environment field representation can directly guide the…

Continuous, adaptive learning, the ability to adapt to the environment and keep improving performance, is a hallmark of natural intelligence. Biological organisms excel in acquiring, transferring, and retaining knowledge while adapting to…