相关论文: Powderworld: A Platform for Understanding Generali…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots, with recent deep reinforcement learning approaches showing promising results. However, the complexity of the real world makes it infeasible…

Plants are dynamic systems that are integral to our existence and survival. Plants face environment changes and adapt over time to their surrounding conditions. We argue that plant responses to an environmental stimulus are a good example…

Robots often face situations where grasping a goal object is desirable but not feasible due to other present objects preventing the grasp action. We present a deep Reinforcement Learning approach to learn grasping and pushing policies for…

This work addresses the problem of sensing the world: how to learn a multimodal representation of a reinforcement learning agent's environment that allows the execution of tasks under incomplete perceptual conditions. To address such…

Text-based games (TBG) have emerged as promising environments for driving research in grounded language understanding and studying problems like generalization and sample efficiency. Several deep reinforcement learning (RL) methods with…

Recent progress in the field of reinforcement learning has been accelerated by virtual learning environments such as video games, where novel algorithms and ideas can be quickly tested in a safe and reproducible manner. We introduce the…

Action-conditioned video models offer a promising path to building general-purpose robot simulators that can improve directly from data. Yet, despite training on large-scale robot datasets, current state-of-the-art video models still…

Generative world models (WMs) can now simulate worlds with striking visual realism, which naturally raises the question of whether they can endow embodied agents with predictive perception for decision making. Progress on this question has…

Reinforcement learning (RL) algorithms should learn as much as possible about the environment but not the properties of the physics engines that generate the environment. There are multiple algorithms that solve the task in a physics engine…

Data driven approaches for decision making applied to automated driving require appropriate generalization strategies, to ensure applicability to the world's variability. Current approaches either do not generalize well beyond the training…

Are world models a necessary ingredient for flexible, goal-directed behaviour, or is model-free learning sufficient? We provide a formal answer to this question, showing that any agent capable of generalizing to multi-step goal-directed…

Interactive world models that simulate object dynamics are crucial for robotics, VR, and AR. However, it remains a significant challenge to learn physics-consistent dynamics models from limited real-world video data, especially for…

Generalizable agents should adapt to diverse tasks and unseen environments beyond their training distribution. This position paper argues that such generalization requires environment scaling: expanding the distribution of executable…

In the past few years, deep reinforcement learning has been proven to solve problems which have complex states like video games or board games. The next step of intelligent agents would be able to generalize between tasks, and using prior…

As humans and animals learn in the natural world, they encounter distributions of entities, situations and events that are far from uniform. Typically, a relatively small set of experiences are encountered frequently, while many important…

World models are central to building agents that can reason, plan, and generalize beyond their training data. However, research on world models is currently fragmented, with disparate codebases, data pipelines, and evaluation protocols…

The reinforcement learning community has made great strides in designing algorithms capable of exceeding human performance on specific tasks. These algorithms are mostly trained one task at the time, each new task requiring to train a brand…

Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…

In the sequential decision making setting, an agent aims to achieve systematic generalization over a large, possibly infinite, set of environments. Such environments are modeled as discrete Markov decision processes with both states and…

We introduce the framework of performative reinforcement learning where the policy chosen by the learner affects the underlying reward and transition dynamics of the environment. Following the recent literature on performative…