相关论文: Grounded Language Learning Fast and Slow

Children can rapidly generalize compositionally-constructed rules to unseen test sets. On the other hand, deep reinforcement learning (RL) agents need to be trained over millions of episodes, and their ability to generalize to unseen…

We present an approach for agents to learn representations of a global map from sensor data, to aid their exploration in new environments. To achieve this, we embed procedures mimicking that of traditional Simultaneous Localization and…

Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…

Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…

Recently, empowered with the powerful capabilities of neural networks, reinforcement learning (RL) has successfully tackled numerous challenging tasks. However, while these models demonstrate enhanced decision-making abilities, they are…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

Reinforcement learning for embodied agents is a challenging problem. The accumulated reward to be optimized is often a very rugged function, and gradient methods are impaired by many local optimizers. We demonstrate, in an experimental…

Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…

In this paper we take the first steps in studying a new approach to synthesis of efficient communication schemes in multi-agent systems, trained via reinforcement learning. We combine symbolic methods with machine learning, in what is…

Humans are able to identify a referred visual object in a complex scene via a few rounds of natural language communications. Success communication requires both parties to engage and learn to adapt for each other. In this paper, we…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

We propose direct multimodal few-shot models that learn a shared embedding space of spoken words and images from only a few paired examples. Imagine an agent is shown an image along with a spoken word describing the object in the picture,…

Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…

This paper extends the reinforcement learning ideas into the multi-agents system, which is far more complicated than the previously studied single-agent system. We studied two different multi-agents systems. One is the fully-connected…

Recent success in deep reinforcement learning is having an agent learn how to play Go and beat the world champion without any prior knowledge of the game. In that task, the agent has to make a decision on what action to take based on the…

Word embeddings are traditionally trained on a large corpus in an unsupervised setting, with no specific design for incorporating domain knowledge. This can lead to unsatisfactory performances when training data originate from heterogeneous…

In deep learning, a central issue is to understand how neural networks efficiently learn high-dimensional features. To this end, we explore the gradient descent learning of a general Gaussian Multi-index model…

In this work we apply deep reinforcement learning to the problems of navigating a three-dimensional environment and inferring the locations of human speaker audio sources within, in the case where the only available information is the raw…

Learning to follow human instructions is a long-pursued goal in artificial intelligence. The task becomes particularly challenging if no prior knowledge of the employed language is assumed while relying only on a handful of examples to…