相关论文: Discovering and Achieving Goals via World Models

Scaling Vision-Language-Action (VLA) models on large-scale data offers a promising path to achieving a more generalized driving intelligence. However, VLA models are limited by a ``supervision deficit'': the vast model capacity is…

When deploying autonomous agents in the real world, we need effective ways of communicating objectives to them. Traditional skill learning has revolved around reinforcement and imitation learning, each with rigid constraints on the format…

State of the art reinforcement learning has enabled training agents on tasks of ever increasing complexity. However, the current paradigm tends to favor training agents from scratch on every new task or on collections of tasks with a view…

Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenarios. Recent works have begun to explore the incorporation of…

In this work, we address the challenging problem of long-horizon goal-reaching policy learning from non-expert, action-free observation data. Unlike fully labeled expert data, our data is more accessible and avoids the costly process of…

Agent decision making using Reinforcement Learning (RL) heavily relies on either a model or simulator of the environment (e.g., moving in an 8x8 maze with three rooms, playing Chess on an 8x8 board). Due to this dependence, small changes in…

To quickly solve new tasks in complex environments, intelligent agents need to build up reusable knowledge. For example, a learned world model captures knowledge about the environment that applies to new tasks. Similarly, skills capture…

Large language models (LLMs) have recently gained much attention in building autonomous agents. However, the performance of current LLM-based web agents in long-horizon tasks is far from optimal, often yielding errors such as repeatedly…

The process of scientific discovery relies on an interplay of observations, analysis, and hypothesis generation. Machine learning is increasingly being adopted to address individual aspects of this process. However, it remains an open…

Agents based on large language models (LLMs) struggle with brainless trial-and-error and generating hallucinatory actions due to a lack of global planning in long-horizon tasks. In this paper, we introduce a plan-and-execute framework and…

Engineering design problems often involve large state and action spaces along with highly sparse rewards. Since an exhaustive search of those spaces is not feasible, humans utilize relevant domain knowledge to condense the search space.…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

To increase autonomy in reinforcement learning, agents need to learn useful behaviours without reliance on manually designed reward functions. To that end, skill discovery methods have been used to learn the intrinsic options available to…

LLM agents have shown strong performance across a wide range of complex tasks, including interactive environments that require long-horizon decision making. But these agents cannot learn on the fly at test time. Self-evolving agents address…

Model-based reinforcement learning is a powerful tool, but collecting data to fit an accurate model of the system can be costly. Exploring an unknown environment in a sample-efficient manner is hence of great importance. However, the…

To rapidly learn a new task, it is often essential for agents to explore efficiently -- especially when performance matters from the first timestep. One way to learn such behaviour is via meta-learning. Many existing methods however rely on…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to mathematically formalize these abilities using a neural network…

One's ability to learn a generative model of the world without supervision depends on the extent to which one can construct abstract knowledge representations that generalize across experiences. To this end, capturing an accurate…

We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based…

In this paper, we present a novel approach to incrementally learn an Abstract Model of an unknown environment, and show how an agent can reuse the learned model for tackling the Object Goal Navigation task. The Abstract Model is a finite…