相关论文: On the Learning Mechanisms in Physical Reasoning

Modern large language models (LLMs) employ diverse logical inference mechanisms for reasoning, making the strategic optimization of these approaches critical for advancing their capabilities. This paper systematically investigate the…

Learning from Demonstration (LfD) seeks to democratize robotics by enabling non-roboticist end-users to teach robots to perform a task by providing a human demonstration. However, modern LfD techniques, e.g. inverse reinforcement learning…

Research in cognitive science has provided extensive evidence of human cognitive ability in performing physical reasoning of objects from noisy perceptual inputs. Such a cognitive ability is commonly known as intuitive physics. With…

Learning from Demonstration (LfD) is a popular approach that allows humans to teach robots new skills by showing the correct way(s) of performing the desired skill. Human-provided demonstrations, however, are not always optimal and the…

Learning from demonstration (LfD) is the process of building behavioral models of a task from demonstrations provided by an expert. These models can be used e.g. for system control by generalizing the expert demonstrations to previously…

We draw on the latest advancements in the physics community to propose a novel method for discovering the governing non-linear dynamics of physical systems in reinforcement learning (RL). We establish that this method is capable of…

Learning from Demonstrations (LfD) allows robots to learn skills from human users, but its effectiveness can suffer due to sub-optimal teaching, especially from untrained demonstrators. Active LfD aims to improve this by letting robots…

The rapid advancement of embodied intelligence and world models has intensified efforts to integrate physical laws into AI systems, yet physical perception and symbolic physics reasoning have developed along separate trajectories without a…

Model-free and model-based reinforcement learning are two ends of a spectrum. Learning a good policy without a dynamic model can be prohibitively expensive. Learning the dynamic model of a system can reduce the cost of learning the policy,…

Despite the numerous breakthroughs achieved with Reinforcement Learning (RL), solving environments with sparse rewards remains a challenging task that requires sophisticated exploration. Learning from Demonstrations (LfD) remedies this…

Effective inclusion of physics-based knowledge into deep neural network models of dynamical systems can greatly improve data efficiency and generalization. Such a-priori knowledge might arise from physical principles (e.g., conservation…

Trajectory prediction serves as a critical functionality in autonomous driving, enabling the anticipation of future motion paths for traffic participants such as vehicles and pedestrians, which is essential for driving safety. Although…

While Multimodal Large Language Models (MLLMs) have demonstrated impressive capabilities in image and video understanding, their ability to comprehend the physical world has become an increasingly important research focus. Despite their…

Learning from demonstration (LfD) has succeeded in tasks featuring a long time horizon. However, when the problem complexity also includes human-in-the-loop perturbations, state-of-the-art approaches do not guarantee the successful…

Next-frame prediction is a useful and powerful method for modelling and understanding the dynamics of video data. Inspired by the empirical success of causal language modelling and next-token prediction in language modelling, we explore the…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Learning dynamics, which describes how the learning of specific training examples influences the model's predictions on other examples, gives us a powerful tool for understanding the behavior of deep learning systems. We study the learning…

At an early age, human infants are able to learn and build a model of the world very quickly by constantly observing and interacting with objects around them. One of the most fundamental intuitions human infants acquire is intuitive…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…