相关论文: Semantic Curiosity for Active Visual Learning

In many real-world scenarios, rewards extrinsic to the agent are extremely sparse, or absent altogether. In such cases, curiosity can serve as an intrinsic reward signal to enable the agent to explore its environment and learn skills that…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…

We hypothesize that curiosity is a mechanism found by evolution that encourages meaningful exploration early in an agent's life in order to expose it to experiences that enable it to obtain high rewards over the course of its lifetime. We…

Model-based curiosity combines active learning approaches to optimal sampling with the information gain based incentives for exploration presented in the curiosity literature. Existing model-based curiosity methods look to approximate…

Open-world interactive object search in household environments requires understanding semantic relationships between objects and their surrounding context to guide exploration efficiently. Prior methods either rely on vision-language…

Zero-shot classification is a promising paradigm to solve an applicable problem when the training classes and test classes are disjoint. Achieving this usually needs experts to externalize their domain knowledge by manually specifying a…

Although exploratory behaviors are ubiquitous in the animal kingdom, their computational underpinnings are still largely unknown. Behavioral Psychology has identified learning as a primary drive underlying many exploratory behaviors.…

Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…

In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…

Efficient exploration is necessary to achieve good sample efficiency for reinforcement learning in general. From small, tabular settings such as gridworlds to large, continuous and sparse reward settings such as robotic object manipulation…

In standard passive imitation learning, the goal is to learn a target policy by passively observing full execution trajectories of it. Unfortunately, generating such trajectories can require substantial expert effort and be impractical in…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

Domain adaptation is a common problem in robotics, with applications such as transferring policies from simulation to real world and lifelong learning. Performing such adaptation, however, requires informative data about the environment to…

Exploration is a cornerstone of reinforcement learning (RL). Intrinsic motivation attempts to decouple exploration from external, task-based rewards. However, established approaches to intrinsic motivation that follow general principles…

The design of recommendations strategies in the adaptive learning system focuses on utilizing currently available information to provide individual-specific learning instructions for learners. As a critical motivate for human behaviors,…

Intrinsically motivated goal exploration processes enable agents to autonomously sample goals to explore efficiently complex environments with high-dimensional continuous actions. They have been applied successfully to real world robots to…

This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are…

The rise of embodied AI applications has enabled robots to perform complex tasks which require a sophisticated understanding of their environment. To enable successful robot operation in such settings, maps must be constructed so that they…

Exploration is a crucial and distinctive aspect of reinforcement learning (RL) that remains a fundamental open problem. Several methods have been proposed to tackle this challenge. Commonly used methods inject random noise directly into the…