相关论文: Generalizing to New Tasks via One-Shot Composition…

Imitation learning is an effective approach for training game-playing agents and, consequently, for efficient game production. However, generalization - the ability to perform well in related but unseen scenarios - is an essential…

Imitation learning stands at a crossroads: despite decades of progress, current imitation learning agents remain sophisticated memorisation machines, excelling at replay but failing when contexts shift or goals evolve. This paper argues…

Compositional generalization, the ability of an agent to generalize to unseen combinations of latent factors, is easy for humans but hard for deep neural networks. A line of research in cognitive science has hypothesized a process,…

Compositional generalization is essential for reaching unseen goals under novel contextual variations in offline goal-conditioned reinforcement learning (GCRL), where a generalist goal-reaching agent must be learned from limited data. Most…

In this study, we address the challenge of learning generalizable policies for compositional tasks defined by logical specifications. These tasks consist of multiple temporally extended sub-tasks. Due to the sub-task inter-dependencies and…

A generally intelligent learner should generalize to more complex tasks than it has previously encountered, but the two common paradigms in machine learning -- either training a separate learner per task or training a single learner for all…

Imitation learning has been commonly applied to solve different tasks in isolation. This usually requires either careful feature engineering, or a significant number of samples. This is far from what we desire: ideally, robots should be…

Many tasks in control, robotics, and planning can be specified using desired goal configurations for various entities in the environment. Learning goal-conditioned policies is a natural paradigm to solve such tasks. However, current…

Neural network models often generalize poorly to mismatched domains or distributions. In NLP, this issue arises in particular when models are expected to generalize compositionally, that is, to novel combinations of familiar words and…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…

Compositional generalization-a key open challenge in modern machine learning-requires models to predict unknown combinations of known concepts. However, assessing compositional generalization remains a fundamental challenge due to the lack…

Imitation learning holds the promise of equipping robots with versatile skills by learning from expert demonstrations. However, policies trained on finite datasets often struggle to generalize beyond the training distribution. In this work,…

The ability to generalize is an important feature of any intelligent agent. Not only because it may allow the agent to cope with large amounts of data, but also because in some environments, an agent with no generalization capabilities…

Although deep networks have significantly increased the performance of visual recognition methods, it is still challenging to achieve the robustness across visual domains that is necessary for real-world applications. To tackle this issue,…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

Leveraging the compositional nature of our world to expedite learning and facilitate generalization is a hallmark of human perception. In machine learning, on the other hand, achieving compositional generalization has proven to be an…

Despite recent breakthroughs in reinforcement learning (RL) and imitation learning (IL), existing algorithms fail to generalize beyond the training environments. In reality, humans can adapt to new tasks quickly by leveraging prior…

Effective task representations should facilitate compositionality, such that after learning a variety of basic tasks, an agent can perform compound tasks consisting of multiple steps simply by composing the representations of the…

When writing programs, people have the ability to tackle a new complex task by decomposing it into smaller and more familiar subtasks. While it is difficult to measure whether neural program synthesis methods have similar capabilities, what…