相关论文: CausalWorld: A Robotic Manipulation Benchmark for …

The ability to learn and act in novel situations is still a prerogative of animate intelligence, as current machine learning methods mostly fail when moving beyond the standard i.i.d. setting. What is the reason for this discrepancy? Most…

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from…

Recent advances in foundation models, especially in large multi-modal models and conversational agents, have ignited interest in the potential of generally capable embodied agents. Such agents will require the ability to perform new tasks…

Learning from demonstrations (LfD) is an efficient paradigm to train AI agents. But major issues arise when there are differences between (a) the demonstrator's own sensory input, (b) our sensors that observe the demonstrator and (c) the…

Recent advances in robot learning have accelerated progress toward generalist robots that can perform everyday tasks in human environments. Yet it remains difficult to gauge how close we are to this vision. The field lacks a reproducible,…

A fundamental challenge of recommendation systems (RS) is understanding the causal dynamics underlying users' decision making. Most existing literature addresses this problem by using causal structures inferred from domain knowledge.…

For text-based AI systems to interact in the real world, causal reasoning is an essential skill. Since active interventions are costly, we study to what extent a system can learn causal reasoning from symbolic demonstrations of causal…

Massive data collection holds the promise of a better understanding of complex phenomena and, ultimately, better decisions. Representation learning has become a key driver of deep learning applications, as it allows learning latent spaces…

Causal models bring many benefits to decision-making systems (or agents) by making them interpretable, sample-efficient, and robust to changes in the input distribution. However, spurious correlations can lead to wrong causal models and…

While Reinforcement Learning has made great strides towards solving ever more complicated tasks, many algorithms are still brittle to even slight changes in their environment. This is a limiting factor for real-world applications of RL.…

We present CompoSuite, an open-source simulated robotic manipulation benchmark for compositional multi-task reinforcement learning (RL). Each CompoSuite task requires a particular robot arm to manipulate one individual object to achieve a…

Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In this work, we propose the Transporter Network, a simple…

Causal machine learning (Causal ML) aims to answer "what if" questions using machine learning algorithms, making it a promising tool for high-stakes decision-making. Yet, empirical evaluation practices in Causal ML remain limited. Existing…

Animals (especially humans) have an amazing ability to learn new tasks quickly, and switch between them flexibly. How brains support this ability is largely unknown, both neuroscientifically and algorithmically. One reasonable supposition…

As machine learning models become increasingly prevalent in motion forecasting for autonomous vehicles (AVs), it is critical to ensure that model predictions are safe and reliable. However, exhaustively collecting and labeling the data…

Large-scale training have propelled significant progress in various sub-fields of AI such as computer vision and natural language processing. However, building robot learning systems at a comparable scale remains challenging. To develop…

Understanding the continuous states of objects is essential for task learning and planning in the real world. However, most existing task learning benchmarks assume discrete (e.g., binary) object goal states, which poses challenges for the…

Robotic world models are a promising paradigm for forecasting future environment states, yet their inference speed and the physical plausibility of generated trajectories remain critical bottlenecks, limiting their real-world applications.…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…

Humans are able to perceive, understand and reason about causal events. Developing models with similar physical and causal understanding capabilities is a long-standing goal of artificial intelligence. As a step towards this direction, we…