相关论文: Causal Learning by a Robot with Semantic-Episodic …

Achieving knowledge sharing within an artificial swarm system could lead to significant development in autonomous multiagent and robotic systems research and realize collective intelligence. However, this is difficult to achieve since there…

Robotic manipulation often requires memory: occlusion and state changes can make decision-time observations perceptually aliased, making action selection non-Markovian at the observation level because the same observation may arise from…

Deep reinforcement learning has made significant strides in various robotic tasks. However, employing deep reinforcement learning methods to tackle multi-stage tasks still a challenge. Reinforcement learning algorithms often encounter…

We present a novel task that measures how people generalize objects' causal powers based on observing a single (Experiment 1) or a few (Experiment 2) causal interactions between object pairs. We propose a computational modeling framework…

Preference-based reward learning is widely used for shaping agent behavior to match a user's preference, yet its sparse binary feedback makes it especially vulnerable to causal confusion. The learned reward often latches onto spurious…

There is a brief description of the probabilistic causal graph model for representing, reasoning with, and learning causal structure using Bayesian networks. It is then argued that this model is closely related to how humans reason with and…

Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…

Learning about the causal structure of the world is a fundamental problem for human cognition. Causal models and especially causal learning have proved to be difficult for large pretrained models using standard techniques of deep learning.…

This paper introduces an algorithm for discovering implicit and delayed causal relations between events observed by a robot at arbitrary times, with the objective of improving data-efficiency and interpretability of model-based…

Intelligent agents can cope with sensory-rich environments by learning task-agnostic state abstractions. In this paper, we propose an algorithm to approximate causal states, which are the coarsest partition of the joint history of actions…

Explainability, in particular, the ability for robots to explain why they have made a decision or behaved in a certain way, is a critical tool in helping users understand the robots they interact and coexist with. Behaviour trees are a…

Discovering and exploiting the causal structure in the environment is a crucial challenge for intelligent agents. Here we explore whether causal reasoning can emerge via meta-reinforcement learning. We train a recurrent network with…

The ability for autonomous agents to learn and conform to human norms is crucial for their safety and effectiveness in social environments. While recent work has led to frameworks for the representation and inference of simple social rules,…

While grasps must satisfy the grasping stability criteria, good grasps depend on the specific manipulation scenario: the object, its properties and functionalities, as well as the task and grasp constraints. In this paper, we consider such…

Robots require knowledge about objects in order to efficiently perform various household tasks involving objects. The existing knowledge bases for robots acquire symbolic knowledge about objects from manually-coded external common sense…

A hallmark of life on Earth is the ability of agents to exert causal power and be drivers of subsequent events. This is key to cognition at all scales. Causal emergence, measuring the degree to which an agent exerts unique predictive power…

Multimodal information-gathering settings, where users collaborate with AI in dynamic environments, are increasingly common. These involve complex processes with textual and multimodal interactions, often requiring additional structural…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

Imitation learning enables robots to learn new tasks from human examples. One fundamental limitation while learning from humans is causal confusion. Causal confusion occurs when the robot's observations include both task-relevant and…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…