相关论文: Hyper-Universal Policy Approximation: Learning to …

Intelligent agents working in real-world environments must be able to learn about the environment and its capabilities which enable them to take actions to change to the state of the world to complete a complex multi-step task in a…

The Universal Approximation Theorem (UAT) guarantees universal function approximation but does not explain how residual models distribute approximation across layers. We reframe residual networks as a layer-wise approximation process that…

Reinforcement learning algorithms usually assume that all actions are always available to an agent. However, both people and animals understand the general link between the features of their environment and the actions that are feasible.…

Conventional hypernetworks are typically engineered around a specific base-model parameterization, so changing the target architecture often entails redesigning the hypernetwork and retraining it from scratch. We introduce the…

To learn directed behaviors in complex environments, intelligent agents need to optimize objective functions. Various objectives are known for designing artificial agents, including task rewards and intrinsic motivation. However, it is…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Embodied agents operating in human spaces must be able to master how their environment works: what objects can the agent use, and how can it use them? We introduce a reinforcement learning approach for exploration for interaction, whereby…

Sim2real transfer is primarily concerned with transferring policies trained in simulation to potentially noisy real world environments. A common problem associated with sim2real transfer is estimating the real-world environmental parameters…

The tasks that an agent will need to solve often are not known during training. However, if the agent knows which properties of the environment are important then, after learning how its actions affect those properties, it may be able to…

Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for…

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…

Recent advances in multi-agent reinforcement learning have been largely limited in training one model from scratch for every new task. The limitation is due to the restricted model architecture related to fixed input and output dimensions.…

There have been key advancements to building universal approximators for multi-goal collections of reinforcement learning value functions -- key elements in estimating long-term returns of states in a parameterized manner. We extend this to…

We study the problem of learning a good set of policies, so that when combined together, they can solve a wide variety of unseen reinforcement learning tasks with no or very little new data. Specifically, we consider the framework of…

Learning world models offers a promising avenue for goal-conditioned reinforcement learning with sparse rewards. By allowing agents to plan actions or exploratory goals without direct interaction with the environment, world models enhance…

The development of a generalist agent capable of solving a wide range of sequential decision-making tasks remains a significant challenge. We address this problem in a cross-agent setup where agents share the same observation space but…

Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major challenge in itself. We address the problem of learning to…

Flexible, goal-directed behavior is a fundamental aspect of human life. Based on the free energy minimization principle, the theory of active inference formalizes the generation of such behavior from a computational neuroscience…

In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact location and contact timing to be unknown. To learn such a policy,…

Modeling agent behavior is central to understanding the emergence of complex phenomena in multiagent systems. Prior work in agent modeling has largely been task-specific and driven by hand-engineering domain-specific prior knowledge. We…