相关论文: Factorizing Perception and Policy for Interactive …

Recent work has demonstrated the promise of combining local explanations with active learning for understanding and supervising black-box models. Here we show that, under specific conditions, these algorithms may misrepresent the quality of…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

Active inference, a theoretical construct inspired by brain processing, is a promising alternative to control artificial agents. However, current methods do not yet scale to high-dimensional inputs in continuous control. Here we present a…

In the one-class recommendation problem, it's required to make recommendations basing on users' implicit feedback, which is inferred from their action and inaction. Existing works obtain representations of users and items by encoding…

Diffusion models have been extensively leveraged for learning robot skills from demonstrations. These policies are conditioned on several observational modalities such as proprioception, vision and tactile. However, observational modalities…

A core aspect of human intelligence is the ability to learn new tasks quickly and switch between them flexibly. Here, we describe a modular continual reinforcement learning paradigm inspired by these abilities. We first introduce a visual…

Constraint Programming (CP) has been successfully used to model and solve complex combinatorial problems. However, modeling is often not trivial and requires expertise, which is a bottleneck to wider adoption. In Constraint Acquisition…

In this article, we present a novel multimodal feedback framework called MOSAIC-F, an acronym for a data-driven Framework that integrates Multimodal Learning Analytics (MMLA), Observations, Sensors, Artificial Intelligence (AI), and…

We present Confidence-Based Autonomy (CBA), an interactive algorithm for policy learning from demonstration. The CBA algorithm consists of two components which take advantage of the complimentary abilities of humans and computer agents. The…

Effectively integrating diverse sensory modalities is crucial for robotic manipulation. However, the typical approach of feature concatenation is often suboptimal: dominant modalities such as vision can overwhelm sparse but critical signals…

Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on collecting new demonstrations for a specific task of interest…

Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learning of interactive policies that coordinate with humans in…

Imitation learning frameworks that learn robot control policies from demonstrators' motions via hand-mounted demonstration interfaces have attracted increasing attention. However, due to differences in physical characteristics between…

We consider the problem of learning a linear factor model. We propose a regularized form of principal component analysis (PCA) and demonstrate through experiments with synthetic and real data the superiority of resulting estimates to those…

The ability of modeling the other agents, such as understanding their intentions and skills, is essential to an agent's interactions with other agents. Conventional agent modeling relies on passive observation from demonstrations. In this…

Embodied instruction following is a challenging problem requiring an agent to infer a sequence of primitive actions to achieve a goal environment state from complex language and visual inputs. Action Learning From Realistic Environments and…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…

Multimodal learning has gained much success in recent years. However, current multimodal fusion methods adopt the attention mechanism of Transformers to implicitly learn the underlying correlation of multimodal features. As a result, the…

Despite the abundance of prior social strategies possessed by humans, there remains a paucity of research dedicated to their transfer and integration into social agents. Our proposed SOTOPIA-$\Omega$ framework aims to address and bridge…

In this survey we present different approaches that allow an intelligent agent to explore autonomous its environment to gather information and learn multiple tasks. Different communities proposed different solutions, that are in many cases,…