相关论文: Language-Conditioned Goal Generation: a New Approa…

We present a novel method for using agent experiences gathered through an embodied simulation to ground contextualized word vectors to object representations. We use similarity learning to make comparisons between different object types…

Robots are widely collaborating with human users in diferent tasks that require high-level cognitive functions to make them able to discover the surrounding environment. A difcult challenge that we briefy highlight in this short paper is…

This paper tackles the problem of learning a questioner in the goal-oriented visual dialog task. Several previous works adopt model-free reinforcement learning. Most pretrain the model from a finite set of human-generated data. We argue…

Large language models (LLMs) have emerged as powerful and general solutions to many natural language tasks. However, many of the most important applications of language generation are interactive, where an agent has to talk to a person to…

To build agents that can collaborate effectively with others, recent research has trained artificial agents to communicate with each other in Lewis-style referential games. However, this often leads to successful but uninterpretable…

We propose associating language utterances to 3D visual abstractions of the scene they describe. The 3D visual abstractions are encoded as 3-dimensional visual feature maps. We infer these 3D visual scene feature maps from RGB images of the…

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…

Key to tasks that require reasoning about natural language in visual contexts is grounding words and phrases to image regions. However, observing this grounding in contemporary models is complex, even if it is generally expected to take…

The current mainstream approach to train natural language systems is to expose them to large amounts of text. This passive learning is problematic if we are interested in developing interactive machines, such as conversational agents. We…

We introduce a novel setting, wherein an agent needs to learn a task from a demonstration of a related task with the difference between the tasks communicated in natural language. The proposed setting allows reusing demonstrations from…

The adoption of pre-trained language models to generate action plans for embodied agents is a promising research strategy. However, execution of instructions in real or simulated environments requires verification of the feasibility of…

The aim of reinforcement learning (RL) is to allow the agent to achieve the final goal. Most RL studies have focused on improving the efficiency of learning to achieve the final goal faster. However, the RL model is very difficult to modify…

The task of conducting visually grounded dialog involves learning goal-oriented cooperative dialog between autonomous agents who exchange information about a scene through several rounds of questions and answers in natural language. We…

While deep reinforcement learning techniques have led to agents that are successfully able to learn to perform a number of tasks that had been previously unlearnable, these techniques are still susceptible to the longstanding problem of…

A key missing capacity of current language models (LMs) is grounding to real-world environments. Most existing work for grounded language understanding uses LMs to directly generate plans that can be executed in the environment to achieve…

In recent years, prompting has quickly become one of the standard ways of steering the outputs of generative machine learning models, due to its intuitive use of natural language. In this work, we propose a system conditioned on embeddings…

Reinforcement learning algorithms use correlations between policies and rewards to improve agent performance. But in dynamic or sparsely rewarding environments these correlations are often too small, or rewarding events are too infrequent…

Reinforcement Learning (RL) has achieved remarkable success in various domains, yet it often relies on carefully designed programmatic reward functions to guide agent behavior. Designing such reward functions can be challenging and may not…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

Humans' experience of the world is profoundly multimodal from the beginning, so why do existing state-of-the-art language models only use text as a modality to learn and represent semantic meaning? In this paper we review the literature on…