相关论文: Affordance as general value function: A computatio…

As the operations of autonomous systems generally affect simultaneously several users, it is crucial that their designs account for fairness considerations. In contrast to standard (deep) reinforcement learning (RL), we investigate the…

Recent advances at the intersection of reinforcement learning (RL) and visual intelligence have enabled agents that not only perceive complex visual scenes but also reason, generate, and act within them. This survey offers a critical and…

Standard regression techniques, while powerful, are often constrained by predefined, differentiable loss functions such as mean squared error. These functions may not fully capture the desired behavior of a system, especially when dealing…

Tool use requires reasoning about the fit between an object's affordances and the demands of a task. Visual affordance learning can benefit from goal-directed interaction experience, but current techniques rely on human labels or expert…

Learning a control policy capable of adapting to time-varying and potentially evolving system dynamics has been a great challenge to the mainstream reinforcement learning (RL). Mainly, the ever-changing system properties would continuously…

Reinforcement learning algorithms describe how an agent can learn an optimal action policy in a sequential decision process, through repeated experience. In a given environment, the agent policy provides him some running and terminal…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

Deep Reinforcement Learning has enabled the learning of policies for complex tasks in partially observable environments, without explicitly learning the underlying model of the tasks. While such model-free methods achieve considerable…

Combinatorial optimization is frequently used in computer vision. For instance, in applications like semantic segmentation, human pose estimation and action recognition, programs are formulated for solving inference in Conditional Random…

Traditional off-policy actor-critic Reinforcement Learning (RL) algorithms learn value functions of a single target policy. However, when value functions are updated to track the learned policy, they forget potentially useful information…

Traditional learning from demonstration (LfD) generally demands a cumbersome collection of physical demonstrations, which can be time-consuming and challenging to scale. Recent advances show that robots can instead learn from human videos…

For effective interactions with the open world, robots should understand how interactions with known and novel objects help them towards their goal. A key aspect of this understanding lies in detecting an object's affordances, which…

In order to *generalize* to various tasks in the wild, robotic agents will need a suitable representation (i.e., vision network) that enables the robot to predict optimal actions given high dimensional vision inputs. However, learning such…

Learning to evaluate and improve policies is a core problem of Reinforcement Learning (RL). Traditional RL algorithms learn a value function defined for a single policy. A recently explored competitive alternative is to learn a single value…

We propose a novel system for action sequence planning based on a combination of affordance recognition and a neural forward model predicting the effects of affordance execution. By performing affordance recognition on predicted futures, we…

Solving complex real-world control tasks often takes multiple tries: if we fail at first, we reflect on what went wrong, and change our strategy accordingly to avoid making the same mistake. In robotics, Vision-Language-Action models (VLAs)…

Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires…

The ability to transfer skills across tasks has the potential to scale up reinforcement learning (RL) agents to environments currently out of reach. Recently, a framework based on two ideas, successor features (SFs) and generalised policy…

Transfer in Reinforcement Learning aims to improve learning performance on target tasks using knowledge from experienced source tasks. Successor Representations (SR) and their extension Successor Features (SF) are prominent transfer…

While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…