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

Compositional generalization--understanding unseen combinations of seen primitives--is an essential reasoning capability in human intelligence. The AI community mainly studies this capability by fine-tuning neural networks on lots of…

Specifying robotic manipulation tasks in a manner that is both expressive and precise remains a central challenge. While visual goals provide a compact and unambiguous task specification, existing goal-conditioned policies often struggle…

Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…

We study goal-conditioned RL through the lens of generalization, but not in the traditional sense of random augmentations and domain randomization. Rather, we aim to learn goal-directed policies that generalize with respect to the horizon:…

Providing expert trajectories in the context of Imitation Learning is often expensive and time-consuming. The goal must therefore be to create algorithms which require as little expert data as possible. In this paper we present an algorithm…

In many real-world applications of control system and robotics, linear temporal logic (LTL) is a widely-used task specification language which has a compositional grammar that naturally induces temporally extended behaviours across tasks,…

Improving generalization is one key challenge in embodied AI, where obtaining large-scale datasets across diverse scenarios is costly. Traditional weak augmentations, such as cropping and flipping, are insufficient for improving a model's…

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

We introduce DualMind, a generalist agent designed to tackle various decision-making tasks that addresses challenges posed by current methods, such as overfitting behaviors and dependence on task-specific fine-tuning. DualMind uses a novel…

We strive to learn a model from a set of source domains that generalizes well to unseen target domains. The main challenge in such a domain generalization scenario is the unavailability of any target domain data during training, resulting…

The field of AI alignment is concerned with AI systems that pursue unintended goals. One commonly studied mechanism by which an unintended goal might arise is specification gaming, in which the designer-provided specification is flawed in a…

The question of whether deep neural networks are good at generalising beyond their immediate training experience is of critical importance for learning-based approaches to AI. Here, we consider tests of out-of-sample generalisation that…

Decomposing knowledge into interchangeable pieces promises a generalization advantage when there are changes in distribution. A learning agent interacting with its environment is likely to be faced with situations requiring novel…

In imitation learning, imitators and demonstrators are policies for picking actions given past interactions with the environment. If we run an imitator, we probably want events to unfold similarly to the way they would have if the…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

Compositional generalization is a crucial property in artificial intelligence, enabling models to handle novel combinations of known components. While most deep learning models lack this capability, certain models succeed in specific tasks,…

A modern paradigm for generalization in machine learning and AI consists of pre-training a task-agnostic foundation model, generally obtained using self-supervised and multimodal contrastive learning. The resulting representations can be…

Neural networks are very powerful learning systems, but they do not readily generalize from one task to the other. This is partly due to the fact that they do not learn in a compositional way, that is, by discovering skills that are shared…

State-of-the-art machine learning methods exhibit limited compositional generalization. At the same time, there is a lack of realistic benchmarks that comprehensively measure this ability, which makes it challenging to find and evaluate…

Compositional generalization is the capacity to recognize and imagine a large amount of novel combinations from known components. It is a key in human intelligence, but current neural networks generally lack such ability. This report…