相关论文: CausalWorld: A Robotic Manipulation Benchmark for …
On-the-fly reasoning often requires adaptation to novel problems under limited data and distribution shift. This work introduces CausalARC: an experimental testbed for AI reasoning in low-data and out-of-distribution regimes, modeled after…
Physical and optical factors interacting with sensor characteristics create complex image degradation patterns. Despite advances in deep learning-based super-resolution, existing methods overlook the causal nature of degradation by adopting…
Robotic manipulation systems operating in diverse, dynamic environments must exhibit three critical abilities: multitask interaction, generalization to unseen scenarios, and spatial memory. While significant progress has been made in…
It has been a long-standing dream to design artificial agents that explore their environment efficiently via intrinsic motivation, similar to how children perform curious free play. Despite recent advances in intrinsically motivated…
Machine learning methods can be unreliable when deployed in domains that differ from the domains on which they were trained. There are a wide range of proposals for mitigating this problem by learning representations that are ``invariant''…
As a pivotal component to attaining generalizable solutions in human intelligence, reasoning provides great potential for reinforcement learning (RL) agents' generalization towards varied goals by summarizing part-to-whole arguments and…
As AI systems move from generating text to accomplishing goals through sustained interaction, the ability to model environment dynamics becomes a central bottleneck. Agents that manipulate objects, navigate software, coordinate with others,…
To make effective decisions, it is important to have a thorough understanding of the causal relationships among actions, environments, and outcomes. This review aims to surface three crucial aspects of decision-making through a causal lens:…
A hallmark of life on Earth is the ability of agents to exert causal power and be drivers of subsequent events. This is key to cognition at all scales. Causal emergence, measuring the degree to which an agent exerts unique predictive power…
Contact-rich tasks pose significant challenges for robotic systems due to inherent uncertainty, complex dynamics, and the high risk of damage during interaction. Recent advances in learning-based control have shown great potential in…
Causal inference is a vital aspect of multiple scientific disciplines and is routinely applied to high-impact applications such as medicine. However, evaluating the performance of causal inference methods in real-world environments is…
Humans interpret the world around them in terms of cause and effect and communicate their understanding of the world to each other in causal terms. These causal aspects of human cognition are thought to underlie humans' ability to…
Many robotic tasks are composed of a lot of temporally correlated sub-tasks in a highly complex environment. It is important to discover situational intentions and proper actions by deliberating on temporal abstractions to solve problems…
Causal models provide rich descriptions of complex systems as sets of mechanisms by which each variable is influenced by its direct causes. They support reasoning about manipulating parts of the system and thus hold promise for addressing…
Methods of transfer learning try to combine knowledge from several related tasks (or domains) to improve performance on a test task. Inspired by causal methodology, we relax the usual covariate shift assumption and assume that it holds true…
Future service robots working in human environments, such as kitchens, will face situations where they need to improvise. The usual tool for a given task might not be available and the robot will have to use some substitute tool. The robot…
The capacity of an embodied agent to understand, predict, and interact with its environment is fundamentally contingent on an internal world model. This paper introduces a novel framework for investigating the formation and adaptation of…
Efficiently navigating complex environments requires agents to internalize the underlying logic of their world, yet standard world modelling methods often struggle with sample inefficiency, lack of transparency, and poor scalability. We…
There exist well-developed frameworks for causal modelling, but these require rather a lot of human domain expertise to define causal variables and perform interventions. In order to enable autonomous agents to learn abstract causal models…
Recent advancements in video generation have enabled the development of ``world models'' capable of simulating potential futures for robotics and planning. However, specifying precise goals for these models remains a challenge; text…