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

Designing rewards for Reinforcement Learning (RL) is challenging because it needs to convey the desired task, be efficient to optimize, and be easy to compute. The latter is particularly problematic when applying RL to robotics, where…

Learning to understand grounded language, which connects natural language to percepts, is a critical research area. Prior work in grounded language acquisition has focused primarily on textual inputs. In this work we demonstrate the…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Today's most accurate language models are trained on orders of magnitude more language data than human language learners receive - but with no supervision from other sensory modalities that play a crucial role in human learning. Can we make…

Reinforcement Learning has shown success in a number of complex virtual environments. However, many challenges still exist towards solving problems with natural language as a core component. Interactive Fiction Games (or Text Games) are one…

A distinguishing property of human intelligence is the ability to flexibly use language in order to communicate complex ideas with other humans in a variety of contexts. Research in natural language dialogue should focus on designing…

Language grounding is an active field aiming at enriching textual representations with visual information. Generally, textual and visual elements are embedded in the same representation space, which implicitly assumes a one-to-one…

The goal-oriented document-grounded dialogue aims at responding to the user query based on the dialogue context and supporting document. Existing studies tackle this problem by decomposing it into two sub-tasks: knowledge identification and…

Human-to-human conversation is not just talking and listening. It is an incremental process where participants continually establish a common understanding to rule out misunderstandings. Current language understanding methods for…

One of the long-term goals of artificial intelligence is to build an agent that can communicate intelligently with human in natural language. Most existing work on natural language learning relies heavily on training over a pre-collected…

Techniques that learn improved representations via offline data or self-supervised objectives have shown impressive results in traditional reinforcement learning (RL). Nevertheless, it is unclear how improved representation learning can…

We propose a novel approach for training large language models (LLMs) to adhere to objectives defined within a latent embedding space. Our method leverages reinforcement learning (RL), treating a pre-trained LLM as an environment. Our…

We propose an agent architecture that automates parts of the common reinforcement learning experiment workflow, to enable automated mastery of control domains for embodied agents. To do so, it leverages a VLM to perform some of the…

Many relevant tasks require an agent to reach a certain state, or to manipulate objects into a desired configuration. For example, we might want a robot to align and assemble a gear onto an axle or insert and turn a key in a lock. These…

Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…

Agents built with large language models (LLMs) have shown great potential across a wide range of domains. However, in complex decision-making tasks, pure LLM-based agents tend to exhibit intrinsic bias in their choice of actions, which is…

Agentic reinforcement learning increasingly relies on experience-driven scaling, yet real-world environments remain non-adaptive, limited in coverage, and difficult to scale. World models offer a potential way to improve learning efficiency…

Widespread adoption of self-driving cars will depend not only on their safety but largely on their ability to interact with human users. Just like human drivers, self-driving cars will be expected to understand and safely follow…

We introduce Reward-Zero, a general-purpose implicit reward mechanism that transforms natural-language task descriptions into dense, semantically grounded progress signals for reinforcement learning (RL). Reward-Zero serves as a simple yet…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…