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Despite the promising results achieved, state-of-the-art interactive reinforcement learning schemes rely on passively receiving supervision signals from advisor experts, in the form of either continuous monitoring or pre-defined rules,…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

Augmented reality (AR) offers promising opportunities to support movement-based activities, such as personal training or physical therapy, with real-time, spatially-situated visual cues. While many approaches leverage AR to guide motion,…

Teaching an agent to perform new tasks using natural language can easily be hindered by ambiguities in interpretation. When a teacher provides an instruction to a learner about an object by referring to its features, the learner can…

One of the main questions concerning learning in Multi-Agent Systems is: (How) can agents benefit from mutual interaction during the learning process?. This paper describes the study of an interactive advice-exchange mechanism as a possible…

Complex, long-horizon planning and its combinatorial nature pose steep challenges for learning-based agents. Difficulties in such settings are exacerbated in low data regimes where over-fitting stifles generalization and compounding errors…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

Exploration is a prerequisite for learning useful behaviors in sparse-reward, long-horizon tasks, particularly within 3D environments. Curiosity-driven reinforcement learning addresses this via intrinsic rewards derived from the mismatch…

The challenging task of Vision-and-Language Navigation (VLN) requires embodied agents to follow natural language instructions to reach a goal location or object (e.g. `walk down the hallway and turn left at the piano'). For agents to…

Formation strategy is one of the most important parts of many multi-agent systems with many applications in real world problems. In this paper, a framework for learning this task in a limited domain (restricted environment) is proposed. In…

Despite numerous successes, the field of reinforcement learning (RL) remains far from matching the impressive generalisation power of human behaviour learning. One possible way to help bridge this gap be to provide RL agents with richer,…

We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using non-locally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about…

In an open-world setting, it is inevitable that an intelligent agent (e.g., a robot) will encounter visual objects, attributes or relationships it does not recognize. In this work, we develop an agent empowered with visual curiosity, i.e.…

Learning is an inherently continuous phenomenon. When humans learn a new task there is no explicit distinction between training and inference. As we learn a task, we keep learning about it while performing the task. What we learn and how we…

We introduce an interactive learning framework for the development and testing of intelligent visual systems, called learning-by-asking (LBA). We explore LBA in context of the Visual Question Answering (VQA) task. LBA differs from standard…

Recent time-contrastive learning approaches manage to learn invariant object representations without supervision. This is achieved by mapping successive views of an object onto close-by internal representations. When considering this…

We introduce a novel setting, wherein an agent needs to learn a task from a demonstration of a related task with the difference between the tasks communicated in natural language. The proposed setting allows reusing demonstrations from…

Visual-audio navigation (VAN) is attracting more and more attention from the robotic community due to its broad applications, \emph{e.g.}, household robots and rescue robots. In this task, an embodied agent must search for and navigate to…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

We present a machine learning framework for multi-agent systems to learn both the optimal policy for maximizing the rewards and the encoding of the high dimensional visual observation. The encoding is useful for sharing local visual…