相关论文: Vector Quantized Models for Planning

The design of autonomous agents that can interact effectively with other agents without prior coordination is a core problem in multi-agent systems. Type-based reasoning methods achieve this by maintaining a belief over a set of potential…

In reinforcement learning algorithms, it is a common practice to account for only a single view of the environment to make the desired decisions; however, utilizing multiple views of the environment can help to promote the learning of…

Discrete latent spaces in variational autoencoders have been shown to effectively capture the data distribution for many real-world problems such as natural language understanding, human intent prediction, and visual scene representation.…

The focus of this work is sample-efficient deep reinforcement learning (RL) with a simulator. One useful property of simulators is that it is typically easy to reset the environment to a previously observed state. We propose an algorithmic…

Many real-world sequential decision making problems are partially observable by nature, and the environment model is typically unknown. Consequently, there is great need for reinforcement learning methods that can tackle such problems given…

Assessing the systemic effects of uncertainty that arises from agents' partial observation of the true states of the world is critical for understanding a wide range of scenarios. Yet, previous modeling work on agent learning and…

Building deep reinforcement learning agents that can generalize and adapt to unseen environments remains a fundamental challenge for AI. This paper describes progresses on this challenge in the context of man-made environments, which are…

Real-world autonomous systems operate under uncertainty about both their pose and dynamics. Autonomous control systems must simultaneously perform estimation and control tasks to maintain robustness to changing dynamics or modeling errors.…

Model-based approaches bear great promise for decision making of agents interacting with the physical world. In the context of spatial environments, different types of problems such as localisation, mapping, navigation or autonomous…

Planning-based reinforcement learning for continuous control is bottlenecked by two practical issues: planning at primitive time scales leads to prohibitive branching and long horizons, while real environments are frequently partially…

The idea of decision-aware model learning, that models should be accurate where it matters for decision-making, has gained prominence in model-based reinforcement learning. While promising theoretical results have been established, the…

We demonstrate how a sequence model and a sampling-based planner can influence each other to produce efficient plans and how such a model can automatically learn to take advantage of observations of the environment. Sampling-based planners…

This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially…

In reinforcement learning (RL), agents often operate in partially observed and uncertain environments. Model-based RL suggests that this is best achieved by learning and exploiting a probabilistic model of the world. 'Active inference' is…

Search and planning algorithms have been a cornerstone of artificial intelligence since the field's inception. Giving reinforcement learning agents the ability to plan during execution time has resulted in significant performance…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

A crucial capability of real-world intelligent agents is their ability to plan a sequence of actions to achieve their goals in the visual world. In this work, we address the problem of visual semantic planning: the task of predicting a…

Convolutions on monocular dash cam videos capture spatial invariances in the image plane but do not explicitly reason about distances and depth. We propose a simple transformation of observations into a bird's eye view, also known as plan…

Deciding how to act in partially observable environments remains an active area of research. Identifying good sequences of decisions is particularly challenging when good control performance requires planning multiple steps into the future…

Learning efficiently a causal model of the environment is a key challenge of model-based RL agents operating in POMDPs. We consider here a scenario where the learning agent has the ability to collect online experiences through direct…