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

Event camera, a novel neuromorphic vision sensor, records data with high temporal resolution and wide dynamic range, offering new possibilities for accurate visual representation in challenging scenarios. However, event data is inherently…

Exploration of indoor environments has recently experienced a significant interest, also thanks to the introduction of deep neural agents built in a hierarchical fashion and trained with Deep Reinforcement Learning (DRL) on simulated…

Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…

Latent learning, classically theorized by Tolman, shows that biological agents (e.g., rats) can acquire internal representations of their environment without rewards, enabling rapid adaptation once rewards are introduced. In contrast, from…

Exploration in sparse reward environments remains one of the key challenges of model-free reinforcement learning. Instead of solely relying on extrinsic rewards provided by the environment, many state-of-the-art methods use intrinsic…

Whether navigating a building, operating a robot, or playing a game, an agent that acts effectively in an environment must first learn an internal model of how that environment works. Partially-observable Markov decision processes (POMDPs)…

Autonomous mapping of unknown environments is a critical challenge, particularly in scenarios where time is limited. Multi-agent systems can enhance efficiency through collaboration, but the scalability of motion-planning algorithms remains…

This paper frames a general prediction system as an observer traveling around a continuous space, measuring values at some locations, and predicting them at others. The observer is completely agnostic about any particular task being solved;…

Humans have consciousness as the ability to perceive events and objects: a mental model of the world developed from the most impoverished of visual stimuli, enabling humans to make rapid decisions and take actions. Although spatial and…

Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen scenes, we develop an approach for learning visual…

In recent years, as machine learning, particularly for vision and language understanding, has been improved, research in embedded AI has also evolved. VOYAGER is a well-known LLM-based embodied AI that enables autonomous exploration in the…

In this work, we introduce the concept of Active Representation Learning, a novel class of problems that intertwines exploration and representation learning within partially observable environments. We extend ideas from Active Simultaneous…

Reinforcement learning methods require careful design involving a reward function to obtain the desired action policy for a given task. In the absence of hand-crafted reward functions, prior work on the topic has proposed several methods…

We present a reward-predictive, model-based deep learning method featuring trajectory-constrained visual attention for local planning in visual navigation tasks. Our method learns to place visual attention at locations in latent image space…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Reinforcement learning can solve decision-making problems and train an agent to behave in an environment according to a predesigned reward function. However, such an approach becomes very problematic if the reward is too sparse and so the…

Deep reinforcement learning algorithms have been shown to learn complex tasks using highly general policy classes. However, sparse reward problems remain a significant challenge. Exploration methods based on novelty detection have been…

Effective exploration is a challenge in reinforcement learning (RL). Novelty-based exploration methods can suffer in high-dimensional state spaces, such as continuous partially-observable 3D environments. We address this challenge by…

This paper considers the problem of efficient exploration of unseen environments, a key challenge in AI. We propose a `learning to explore' framework where we learn a policy from a distribution of environments. At test time, presented with…

World models enable agents to predict future dynamics conditioned on actions, making the choice of latent representation central to planning and control. Such representations are often either learned directly from pixels with limited…