相关论文: Factorizing Perception and Policy for Interactive …

Inferring object motion representations from observations enhances the performance of robotic manipulation tasks. This paper introduces a new paradigm for robot imitation learning that generates action sequences by reasoning about object…

This work in the field of developmental cognitive robotics aims to devise a new domain bridging between reinforcement learning and imitation learning, with a model of the intrinsic motivation for learning agents to learn with guidance from…

Recent reinforcement learning studies extensively explore the interplay between cooperative and competitive behaviour in mixed environments. Unlike cooperative environments where agents strive towards a common goal, mixed environments are…

In this work, we aim to achieve efficient end-to-end learning of driving policies in dynamic multi-agent environments. Predicting and anticipating future events at the object level are critical for making informed driving decisions. We…

To learn directed behaviors in complex environments, intelligent agents need to optimize objective functions. Various objectives are known for designing artificial agents, including task rewards and intrinsic motivation. However, it is…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in the last decades. One of the central challenges of manipulation is partial observability, as the agent usually does…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

We study the problem of learning multi-task, multi-agent policies for cooperative, temporal objectives, under centralized training, decentralized execution. In this setting, using automata to represent tasks enables the decomposition of…

While recommendation systems generally observe user behavior passively, there has been an increased interest in directly querying users to learn their specific preferences. In such settings, considering queries at different levels of…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

We propose FACtored Multi-Agent Centralised policy gradients (FACMAC), a new method for cooperative multi-agent reinforcement learning in both discrete and continuous action spaces. Like MADDPG, a popular multi-agent actor-critic method,…

In this article, we propose a centralized Multi-Agent Learning framework for learning a policy that models the simultaneous behavior of multiple agents that need to coordinate to solve a certain task. Centralized approaches often suffer…

Achieving generalizable manipulation in unconstrained environments requires the robot to proactively resolve information uncertainty, i.e., the capability of active perception. However, existing methods are often confined in limited types…

Motivations, emotions, and actions are inter-related essential factors in human activities. While motivations and emotions have long been considered at the core of exploring how people take actions in human activities, there has been…

Interactive reinforcement learning has become an important apprenticeship approach to speed up convergence in classic reinforcement learning problems. In this regard, a variant of interactive reinforcement learning is policy shaping which…

Recommendation models can effectively estimate underlying user interests and predict one's future behaviors by factorizing an observed user-item rating matrix into products of two sets of latent factors. However, the user-specific embedding…

Flocks of birds, schools of fish, insects swarms are examples of coordinated motion of a group that arises spontaneously from the action of many individuals. Here, we study flocking behavior from the viewpoint of multi-agent reinforcement…

Humans often learn how to perform tasks via imitation: they observe others perform a task, and then very quickly infer the appropriate actions to take based on their observations. While extending this paradigm to autonomous agents is a…

Large language models (LLMs) struggle on processing complicated observations in interactive decision making tasks. To alleviate this issue, we propose a simple hierarchical prompting approach. Diverging from previous prompting approaches…

In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from…