相关论文: Hierarchical Task Learning from Language Instructi…

It is challenging learning from demonstrated observation-only trajectories in a non-time-aligned environment because most imitation learning methods aim to imitate experts by following the demonstration step-by-step. However, aligned…

Recent works show that learning contextualized embeddings for words is beneficial for downstream tasks. BERT is one successful example of this approach. It learns embeddings by solving two tasks, which are masked language model (masked LM)…

There is a growing interest in the community in making an embodied AI agent perform a complicated task while interacting with an environment following natural language directives. Recent studies have tackled the problem using ALFRED, a…

A significant element of human cooperative intelligence lies in our ability to identify opportunities for fruitful collaboration; and conversely to recognise when the task at hand is better pursued alone. Research on flexible cooperation in…

Hierarchical reinforcement learning (HRL) holds great potential for sample-efficient learning on challenging long-horizon tasks. In particular, letting a higher level assign subgoals to a lower level has been shown to enable fast learning…

Meta learning is a promising solution to few-shot learning problems. However, existing meta learning methods are restricted to the scenarios where training and application tasks share the same out-put structure. To obtain a meta model…

We propose UniT, a Unified Transformer model to simultaneously learn the most prominent tasks across different domains, ranging from object detection to natural language understanding and multimodal reasoning. Based on the transformer…

Natural language guided embodied task completion is a challenging problem since it requires understanding natural language instructions, aligning them with egocentric visual observations, and choosing appropriate actions to execute in the…

Decision Transformers (DT) have demonstrated strong performances in offline reinforcement learning settings, but quickly adapting to unseen novel tasks remains challenging. To address this challenge, we propose a new framework, called…

It is still challenging to build an AI system that can perform tasks that involve vision and language at human level. So far, researchers have singled out individual tasks separately, for each of which they have designed networks and…

Understanding the continuous states of objects is essential for task learning and planning in the real world. However, most existing task learning benchmarks assume discrete (e.g., binary) object goal states, which poses challenges for the…

Self-supervised pre-training of transformer models has shown enormous success in improving performance on a number of downstream tasks. However, fine-tuning on a new task still requires large amounts of task-specific labelled data to…

In order to learn quickly with few samples, meta-learning utilizes prior knowledge learned from previous tasks. However, a critical challenge in meta-learning is task uncertainty and heterogeneity, which can not be handled via globally…

Hierarchical reinforcement learning has been a compelling approach for achieving goal directed behavior over long sequences of actions. However, it has been challenging to implement in realistic or open-ended environments. A main challenge…

Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…

Simulated virtual environments have been widely used to learn robotic agents that perform daily household tasks. These environments encourage research progress by far, but often provide limited object interactability, visual appearance…

Self-supervised learning has shown great success in Speech Recognition. However, it has been observed that finetuning all layers of the learned model leads to lower performance compared to resetting top layers. This phenomenon is attributed…

An interactive instruction following task has been proposed as a benchmark for learning to map natural language instructions and first-person vision into sequences of actions to interact with objects in 3D environments. We found that an…

Training general agents to follow complex instructions (tasks) in intricate environments (levels) remains a core challenge in reinforcement learning. Random sampling of task-level pairs often produces unsolvable combinations, highlighting…

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…