相关论文: Intrinsic Robotic Introspection: Learning Internal…

Policy gradient algorithms have proven to be successful in diverse decision making and control tasks. However, these methods suffer from high sample complexity and instability issues. In this paper, we address these challenges by providing…

For living beings, survival depends on effective regulation of internal physiological states through motivated behaviors. In this perspective we propose that Homeostatically Regulated Reinforcement Learning (HRRL) as a framework to describe…

We present an approach for building an active agent that learns to segment its visual observations into individual objects by interacting with its environment in a completely self-supervised manner. The agent uses its current segmentation…

Understanding how artificial agents model internal mental states is central to advancing Theory of Mind in AI. Evidence points to a unified system for self- and other-awareness. We explore this self-awareness by having reinforcement…

Tracking the internal states of large language models across conversations is important for safety, interpretability, and model welfare, yet current methods are limited. Linear probes and other white-box methods compress high-dimensional…

Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues.…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

This work presents an approach for control, state-estimation and learning model (hyper)parameters for robotic manipulators. It is based on the active inference framework, prominent in computational neuroscience as a theory of the brain,…

This paper presents a novel approach combining inductive logic programming with reinforcement learning to improve training performance and explainability. We exploit inductive learning of answer set programs from noisy examples to learn a…

In the human brain, internal states are often correlated over time (due to local recurrence and other intrinsic circuit properties), punctuated by abrupt transitions. At first glance, temporal smoothness of internal states presents a…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

Deep reinforcement learning has enabled robots to learn motor skills from environmental interactions with minimal to no prior knowledge. However, existing reinforcement learning algorithms assume an episodic setting, in which the agent…

We study the role of intrinsic motivation as an exploration bias for reinforcement learning in sparse-reward synergistic tasks, which are tasks where multiple agents must work together to achieve a goal they could not individually. Our key…

When a person is not satisfied with how a robot performs a task, they can intervene to correct it. Reward learning methods enable the robot to adapt its reward function online based on such human input, but they rely on handcrafted…

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…

Typical methods to study cognitive function are to record the electrical activities of animal neurons during the training of animals performing behavioral tasks. A key problem is that they fail to record all the relevant neurons in the…

While visual imitation learning offers one of the most effective ways of learning from visual demonstrations, generalizing from them requires either hundreds of diverse demonstrations, task specific priors, or large, hard-to-train…

Most approaches to visual scene analysis have emphasised parallel processing of the image elements. However, one area in which the sequential nature of vision is apparent, is that of segmenting multiple, potentially similar and partially…

We propose a self-supervised algorithm to learn representations from egocentric video data. Recently, significant efforts have been made to capture humans interacting with their own environments as they go about their daily activities. In…

As machine learning models become more capable, they have exhibited increased potential in solving complex tasks. One of the most promising directions uses deep reinforcement learning to train autonomous agents in computer network defense…