相关论文: Language-guided Task Adaptation for Imitation Lear…

Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…

Team adaptation to new cooperative tasks is a hallmark of human intelligence, which has yet to be fully realized in learning agents. Previous work on multi-agent transfer learning accommodate teams of different sizes, heavily relying on the…

Over its lifetime, a reinforcement learning agent is often tasked with different tasks. How to efficiently adapt a previously learned control policy from one task to another, remains an open research question. In this paper, we investigate…

A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

Imitation learning and instruction-following are two common approaches to communicate a user's intent to a learning agent. However, as the complexity of tasks grows, it could be beneficial to use both demonstrations and language to…

One of the long-term goals of artificial intelligence is to build an agent that can communicate intelligently with human in natural language. Most existing work on natural language learning relies heavily on training over a pre-collected…

Language is an interface to the outside world. In order for embodied agents to use it, language must be grounded in other, sensorimotor modalities. While there is an extended literature studying how machines can learn grounded language, the…

We propose an interactive-predictive neural machine translation framework for easier model personalization using reinforcement and imitation learning. During the interactive translation process, the user is asked for feedback on uncertain…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

We present a method for combining multi-agent communication and traditional data-driven approaches to natural language learning, with an end goal of teaching agents to communicate with humans in natural language. Our starting point is a…

Language models (LLMs) offer potential as a source of knowledge for agents that need to acquire new task competencies within a performance environment. We describe efforts toward a novel agent capability that can construct cues (or…

Imitation learning enables autonomous agents to learn from human examples, without the need for a reward signal. Still, if the provided dataset does not encapsulate the task correctly, or when the task is too complex to be modeled, such…

Seamlessly interacting with humans or robots is hard because these agents are non-stationary. They update their policy in response to the ego agent's behavior, and the ego agent must anticipate these changes to co-adapt. Inspired by humans,…

We present an information-theoretic framework to learn fixed-dimensional embeddings for tasks in reinforcement learning. We leverage the idea that two tasks are similar if observing an agent's performance on one task reduces our uncertainty…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…

When deployed, AI agents will encounter problems that are beyond their autonomous problem-solving capabilities. Leveraging human assistance can help agents overcome their inherent limitations and robustly cope with unfamiliar situations. We…

When deploying autonomous agents in the real world, we need effective ways of communicating objectives to them. Traditional skill learning has revolved around reinforcement and imitation learning, each with rigid constraints on the format…

This paper provides a roadmap that explores the question of how to imbue learning agents with the ability to understand and generate contextually relevant natural language in service of achieving a goal. We hypothesize that two key…

To cooperate with humans effectively, virtual agents need to be able to understand and execute language instructions. A typical setup to achieve this is with a scripted teacher which guides a virtual agent using language instructions.…