相关论文: Latent World Models For Intrinsically Motivated Ex…

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret…

In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…

Exploration algorithms for reinforcement learning typically replace or augment the reward function with an additional ``intrinsic'' reward that trains the agent to seek previously unseen states of the environment. Here, we consider an…

Reinforcement Learning (RL) is known to be often unsuccessful in environments with sparse extrinsic rewards. A possible countermeasure is to endow RL agents with an intrinsic reward function, or 'intrinsic motivation', which rewards the…

State of the art reinforcement learning has enabled training agents on tasks of ever increasing complexity. However, the current paradigm tends to favor training agents from scratch on every new task or on collections of tasks with a view…

We study planning problems faced by robots operating in uncertain environments with incomplete knowledge of state, and actions that are noisy and/or imprecise. This paper identifies a new problem sub-class that models settings in which…

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…

A major challenge in reinforcement learning is the design of exploration strategies, especially for environments with sparse reward structures and continuous state and action spaces. Intuitively, if the reinforcement signal is very scarce,…

Active recognition enables robots to intelligently explore novel observations, thereby acquiring more information while circumventing undesired viewing conditions. Recent approaches favor learning policies from simulated or collected data,…

The success of pre-trained contextualized representations has prompted researchers to analyze them for the presence of linguistic information. Indeed, it is natural to assume that these pre-trained representations do encode some level of…

Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment…

Real-world sequential decision making problems commonly involve partial observability, which requires the agent to maintain a memory of history in order to infer the latent states, plan and make good decisions. Coping with partial…

Extracting a stable and compact representation of the environment is crucial for efficient reinforcement learning in high-dimensional, noisy, and non-stationary environments. Different categories of information coexist in such environments…

We tackle the problem of policy learning from expert demonstrations without a reward function. A central challenge in this space is that these policies fail upon deployment due to issues of distributional shift, environment stochasticity,…

Spatial embodied intelligence requires agents to act to acquire information under partial observability. While multimodal foundation models excel at passive perception, their capacity for active, self-directed exploration remains…

In the early stages of human life, babies develop their skills by exploring different scenarios motivated by their inherent satisfaction rather than by extrinsic rewards from the environment. This behavior, referred to as intrinsic…

Autonomous exploration in complex multi-agent reinforcement learning (MARL) with sparse rewards critically depends on providing agents with effective intrinsic motivation. While artificial curiosity offers a powerful self-supervised signal,…

The paradigm of learning-based robotics holds immense promise, yet its translation to real-world applications is critically hindered by the sample inefficiency and brittleness of conventional model-free reinforcement learning algorithms. In…

Robots can be used to collect environmental data in regions that are difficult for humans to traverse. However, limitations remain in the size of region that a robot can directly observe per unit time. We introduce a method for selecting a…

Environments with controllable dynamics are usually understood in terms of explicit models. However, such models are not always available, but may sometimes be learned by exploring an environment. In this work, we investigate using an…