相关论文: Discovering and Achieving Goals via World Models

Are world models a necessary ingredient for flexible, goal-directed behaviour, or is model-free learning sufficient? We provide a formal answer to this question, showing that any agent capable of generalizing to multi-step goal-directed…

World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become…

Common approaches for task-agnostic exploration learn tabula-rasa --the agent assumes isolated environments and no prior knowledge or experience. However, in the real world, agents learn in many environments and always come with prior…

Robotic agents that operate autonomously in the real world need to continuously explore their environment and learn from the data collected, with minimal human supervision. While it is possible to build agents that can learn in such a…

As AI systems move from generating text to accomplishing goals through sustained interaction, the ability to model environment dynamics becomes a central bottleneck. Agents that manipulate objects, navigate software, coordinate with others,…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…

Learning world models offers a promising avenue for goal-conditioned reinforcement learning with sparse rewards. By allowing agents to plan actions or exploratory goals without direct interaction with the environment, world models enhance…

Intelligent agents need to generalize from past experience to achieve goals in complex environments. World models facilitate such generalization and allow learning behaviors from imagined outcomes to increase sample-efficiency. While…

World models improve a learning agent's ability to efficiently operate in interactive and situated environments. This work focuses on the task of building world models of text-based game environments. Text-based games, or interactive…

Intelligent agents need to select long sequences of actions to solve complex tasks. While humans easily break down tasks into subgoals and reach them through millions of muscle commands, current artificial intelligence is limited to tasks…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

Planning with partial observation is a central challenge in embodied AI. A majority of prior works have tackled this challenge by developing agents that physically explore their environment to update their beliefs about the world state. In…

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…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

Vision-based urban driving is hard. The autonomous system needs to learn to perceive the world and act in it. We show that this challenging learning problem can be simplified by decomposing it into two stages. We first train an agent that…

Self-supervised goal proposal and reaching is a key component for exploration and efficient policy learning algorithms. Such a self-supervised approach without access to any oracle goal sampling distribution requires deep exploration and…

We propose a novel Reinforcement Learning model for discrete environments, which is inherently interpretable and supports the discovery of deep subgoal hierarchies. In the model, an agent learns information about environment in the form of…

A long-standing challenge in Reinforcement Learning is enabling agents to learn a model of their environment which can be transferred to solve other problems in a world with the same underlying rules. One reason this is difficult is the…

While traditional methods for instruction-following typically assume prior linguistic and perceptual knowledge, many recent works in reinforcement learning (RL) have proposed learning policies end-to-end, typically by training neural…

World models aim to learn action-controlled future prediction and have proven essential for the development of intelligent agents. However, most existing world models rely heavily on substantial action-labeled data and costly training,…