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

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

In this work, we consider one-shot imitation learning for object rearrangement tasks, where an AI agent needs to watch a single expert demonstration and learn to perform the same task in different environments. To achieve a strong…

An important aspect of intelligence is the ability to adapt to a novel task without any direct experience (zero-shot), based on its relationship to previous tasks. Humans can exhibit this cognitive flexibility. By contrast, models that…

It is desirable for an agent to be able to solve a rich variety of problems that can be specified through language in the same environment. A popular approach towards obtaining such agents is to reuse skills learned in prior tasks to…

Goal-conditioned reinforcement learning endows an agent with a large variety of skills, but it often struggles to solve tasks that require more temporally extended reasoning. In this work, we propose to incorporate imagined subgoals into…

Compositional generalization has achieved substantial progress in computer vision on pre-collected training data. Nonetheless, real-world data continually emerges, with possible compositions being nearly infinite, long-tailed, and not…

Visual imitation learning enables robotic agents to acquire skills by observing expert demonstration videos. In the one-shot setting, the agent generates a policy after observing a single expert demonstration without additional fine-tuning.…

It is a long-standing challenge to enable an intelligent agent to learn in one environment and generalize to an unseen environment without further data collection and finetuning. In this paper, we consider a zero shot generalization problem…

Two key challenges within Reinforcement Learning involve improving (a) agent learning within environments with sparse extrinsic rewards and (b) the explainability of agent actions. We describe a curious subgoal focused agent to address both…

Agents trained with deep reinforcement learning algorithms are capable of performing highly complex tasks including locomotion in continuous environments. We investigate transferring the learning acquired in one task to a set of previously…

Humans are capable of abstracting various tasks as different combinations of multiple attributes. This perspective of compositionality is vital for human rapid learning and adaption since previous experiences from related tasks can be…

This paper introduces a novel transfer learning framework for deep multi-agent reinforcement learning. The approach automatically combines goal-conditioned policies with temporal contrastive learning to discover meaningful sub-goals. The…

The natural world is abundant with concepts expressed via visual, acoustic, tactile, and linguistic modalities. Much of the existing progress in multimodal learning, however, focuses primarily on problems where the same set of modalities…

In the past few years, deep reinforcement learning has been proven to solve problems which have complex states like video games or board games. The next step of intelligent agents would be able to generalize between tasks, and using prior…

With machine learning successfully applied to new daunting problems almost every day, general AI starts looking like an attainable goal. However, most current research focuses instead on important but narrow applications, such as image…

Learning to solve complex goal-oriented tasks with sparse terminal-only rewards often requires an enormous number of samples. In such cases, using a set of expert trajectories could help to learn faster. However, Imitation Learning (IL) via…

Contrarily to humans who have the ability to recombine familiar expressions to create novel ones, modern neural networks struggle to do so. This has been emphasized recently with the introduction of the benchmark dataset "gSCAN" (Ruis et…

In this paper, we consider a transfer reinforcement learning problem involving agents with different action spaces. Specifically, for any new unseen task, the goal is to use a successful demonstration of this task by an expert agent in its…

The field of compositional generalization is currently experiencing a renaissance in AI, as novel problem settings and algorithms motivated by various practical applications are being introduced, building on top of the classical…

Compositional generalization is a fundamental trait in humans, allowing us to effortlessly combine known phrases to form novel sentences. Recent works have claimed that standard seq-to-seq models severely lack the ability to compositionally…