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

As a step towards developing zero-shot task generalization capabilities in reinforcement learning (RL), we introduce a new RL problem where the agent should learn to execute sequences of instructions after learning useful skills that solve…

Training long-horizon robotic policies in complex physical environments is essential for many applications, such as robotic manipulation. However, learning a policy that can generalize to unseen tasks is challenging. In this work, we…

Effective coordination is crucial to solve multi-agent collaborative (MAC) problems. While centralized reinforcement learning methods can optimally solve small MAC instances, they do not scale to large problems and they fail to generalize…

Complex, multi-task problems have proven to be difficult to solve efficiently in a sparse-reward reinforcement learning setting. In order to be sample efficient, multi-task learning requires reuse and sharing of low-level policies. To…

While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…

What makes generalization hard for imitation learning in visual robotic manipulation? This question is difficult to approach at face value, but the environment from the perspective of a robot can often be decomposed into enumerable factors…

Building generalist agents that can rapidly adapt to new environments is a key challenge for deploying AI in the digital and real worlds. Is scaling current agent architectures the most effective way to build generalist agents? We propose a…

Compositional generalization is a basic mechanism in human language learning, which current neural networks struggle with. A recently proposed Disentangled sequence-to-sequence model (Dangle) shows promising generalization capability by…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…

Traditional deep learning-based visual imitation learning techniques require a large amount of demonstration data for model training, and the pre-trained models are difficult to adapt to new scenarios. To address these limitations, we…

Active learning agents typically employ a query selection algorithm which solely considers the agent's learning objectives. However, this may be insufficient in more realistic human domains. This work uses imitation learning to enable an…

A fundamental trait of intelligence is the ability to achieve goals in the face of novel circumstances, such as making decisions from new action choices. However, standard reinforcement learning assumes a fixed set of actions and requires…

Humans have a remarkable ability to rapidly generalize to new tasks that is difficult to reproduce in artificial learning systems. Compositionality has been proposed as a key mechanism supporting generalization in humans, but evidence of…

Compositional generalization is the ability to generalize systematically to a new data distribution by combining known components. Although humans seem to have a great ability to generalize compositionally, state-of-the-art neural models…

A major goal of artificial intelligence (AI) is to create an agent capable of acquiring a general understanding of the world. Such an agent would require the ability to continually accumulate and build upon its knowledge as it encounters…

We study how to learn a policy with compositional generalizability. We propose a two-stage framework, which refactorizes a high-reward teacher policy into a generalizable student policy with strong inductive bias. Particularly, we implement…

Large language models (LLMs) exhibit remarkable task generalization, solving tasks they were never explicitly trained on with only a few demonstrations. This raises a fundamental question: When can learning from a small set of tasks…

According to the principle of compositional generalization, the meaning of a complex expression can be understood as a function of the meaning of its parts and of how they are combined. This principle is crucial for human language…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…