相关论文: An Adaptive Deep RL Method for Non-Stationary Envi…

State-of-the-art semantic image segmentation methods are mostly based on training deep convolutional neural networks (CNNs). In this work, we proffer to improve semantic segmentation with the use of contextual information. In particular, we…

Most cognitive architectures rely on discrete representation, both in space (e.g., objects) and in time (e.g., events). However, a robot interaction with the world is inherently continuous, both in space and in time. The segmentation of the…

Reinforcement learning (RL) methods learn optimal decisions in the presence of a stationary environment. However, the stationary assumption on the environment is very restrictive. In many real world problems like traffic signal control,…

Autonomous assembly is an essential capability for industrial and service robots, with Peg-in-Hole (PiH) insertion being one of the core tasks. However, PiH assembly in unknown environments is still challenging due to uncertainty in task…

An increasing amount of applications rely on data-driven models that are deployed for perception tasks across a sequence of scenes. Due to the mismatch between training and deployment data, adapting the model on the new scenes is often…

Controlling a robot based on physics-consistent dynamic models, such as Deep Lagrangian Networks (DeLaN), can improve the generalizability and interpretability of the resulting behavior. However, in complex environments, the number of…

Context is an essential capability for robots that are to be as adaptive as possible in challenging environments. Although there are many context modeling efforts, they assume a fixed structure and number of contexts. In this paper, we…

Adaptive cognition requires structured internal models of objects and their relations. Predictive neural networks are often proposed to learn such world models, but how these are instantiated and how they support prediction remain unclear.…

Offline Meta Reinforcement Learning (OMRL) aims to learn transferable knowledge from offline datasets to enhance the learning process for new target tasks. Context-based Reinforcement Learning (RL) adopts a context encoder to expediently…

Squeeze-and-Excitation (SE) block presents a channel attention mechanism for modeling global context via explicitly capturing dependencies across channels. However, we are still far from understanding how the SE block works. In this work,…

Rotary Position Embedding (RoPE) is an efficient position encoding approach and is widely utilized in numerous large language models (LLMs). Recently, a lot of methods have been put forward to further expand the context window based on…

Reinforcement learning (RL) has produced spectacular results in games, robotics, and continuous control. Yet, despite these successes, learned policies often fail to generalize beyond their training distribution, limiting real-world impact.…

In this paper, we consider a transfer Reinforcement Learning (RL) problem in continuous state and action spaces, under unobserved contextual information. For example, the context can represent the mental view of the world that an expert…

Large language models (LLMs) have rapidly advanced and demonstrated impressive capabilities. In-Context Learning (ICL) and Parameter-Efficient Fine-Tuning (PEFT) are currently two mainstream methods for augmenting LLMs to downstream tasks.…

While Reinforcement Learning ( RL) has made great strides towards solving increasingly complicated problems, many algorithms are still brittle to even slight environmental changes. Contextual Reinforcement Learning (cRL) provides a…

Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observability. To account for these limitations, it is common to…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

Model-based Deep Reinforcement Learning (RL) assumes the availability of a model of an environment's underlying transition dynamics. This model can be used to predict future effects of an agent's possible actions. When no such model is…

Reinforcement learning (RL) enables robots to operate in uncertain environments, but standard approaches often struggle with poor generalization to unseen tasks. Context-adaptive meta reinforcement learning addresses these limitations by…

Real-world autonomous decision-making systems, from robots to recommendation engines, must operate in environments that change over time. While deep reinforcement learning (RL) has shown an impressive ability to learn optimal policies in…