相关论文: PALMER: Perception-Action Loop with Memory for Lon…

Long-horizon agentic reasoning requires large language models to act over long interaction histories containing thoughts, tool calls, observations, and partial conclusions. The challenge is not merely that these histories grow long, but…

We present a strategy for designing and building very general robot manipulation systems involving the integration of a general-purpose task-and-motion planner with engineered and learned perception modules that estimate properties and…

A burgeoning area within reinforcement learning (RL) is the design of sequential decision-making agents centered around large language models (LLMs). While autonomous decision-making agents powered by modern LLMs could facilitate numerous…

Enabling robots to execute long-horizon manipulation tasks from free-form language instructions remains a fundamental challenge in embodied AI. While vision-language models (VLMs) have shown promise as high-level planners, their deployment…

Cooperative multi-agent reinforcement learning (MARL) has achieved significant results, most notably by leveraging the representation-learning abilities of deep neural networks. However, large centralized approaches quickly become…

In dynamic open-world environments, autonomous agents often encounter novelties that hinder their ability to find plans to achieve their goals. Specifically, traditional symbolic planners fail to generate plans when the robot's planning…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

Advancements in large language models (LLMs) have demonstrated their potential in facilitating high-level reasoning, logical reasoning and robotics planning. Recently, LLMs have also been able to generate reward functions for low-level…

Planning an optimal route in a complex environment requires efficient reasoning about the surrounding scene. While human drivers prioritize important objects and ignore details not relevant to the decision, learning-based planners typically…

The language generation and reasoning capabilities of large language models (LLMs) have enabled conversational systems with impressive performance in a variety of tasks, from code generation, to composing essays, to passing STEM and legal…

Large Language Models (LLMs) can serve as world models to enhance agent decision-making in digital environments by simulating future states and predicting action outcomes, potentially eliminating costly trial-and-error exploration. However,…

Long-horizon embodied planning underpins embodied AI. To accomplish long-horizon tasks, one of the most feasible ways is to decompose abstract instructions into a sequence of actionable steps. Foundation models still face logical errors and…

Long-horizon applications increasingly require large language models (LLMs) to answer queries when relevant evidence is sparse and dispersed across very long contexts. Existing memory systems largely follow two paradigms: explicit…

We introduce a new approach to probabilistic unsupervised learning based on the recognition-parametrised model (RPM): a normalised semi-parametric hypothesis class for joint distributions over observed and latent variables. Under the key…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

Animals thrive in a constantly changing environment and leverage the temporal structure to learn well-factorized causal representations. In contrast, traditional neural networks suffer from forgetting in changing environments and many…

Embodied task planning requires agents to execute long-horizon, goal-directed actions in complex 3D environments, where success depends on both immediate perception and accumulated experience across tasks. However, most existing LLM-based…

Continual learning aims to provide intelligent agents capable of learning multiple tasks sequentially with neural networks. One of its main challenging, catastrophic forgetting, is caused by the neural networks non-optimal ability to learn…

We present an algorithm, HOMER, for exploration and reinforcement learning in rich observation environments that are summarizable by an unknown latent state space. The algorithm interleaves representation learning to identify a new notion…