相关论文: ALAN: Autonomously Exploring Robotic Agents in the…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

Simulation is a crucial component of any robotic system. In order to simulate correctly, we need to write complex rules of the environment: how dynamic agents behave, and how the actions of each of the agents affect the behavior of others.…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

Efficient exploration is a long-standing problem in sensorimotor learning. Major advances have been demonstrated in noise-free, non-stochastic domains such as video games and simulation. However, most of these formulations either get stuck…

World models learn behaviors in a latent imagination space to enhance the sample-efficiency of deep reinforcement learning (RL) algorithms. While learning world models for high-dimensional observations (e.g., pixel inputs) has become…

We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…

Can artificial agents learn to assist others in achieving their goals without knowing what those goals are? Generic reinforcement learning agents could be trained to behave altruistically towards others by rewarding them for altruistic…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…

We consider a learning agent in a partially observable environment, with which the agent has never interacted before, and about which it learns both what it can observe and how its actions affect the environment. The agent can learn about…

Artificial intelligence systems increasingly involve continual learning to enable flexibility in general situations that are not encountered during system training. Human interaction with autonomous systems is broadly studied, but research…

Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in the last decades. One of the central challenges of manipulation is partial observability, as the agent usually does…

When an object detector is deployed in a novel setting it often experiences a drop in performance. This paper studies how an embodied agent can automatically fine-tune a pre-existing object detector while exploring and acquiring images in a…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Autonomous agents that execute human tasks by controlling computers can enhance human productivity and application accessibility. However, progress in this field will be driven by realistic and reproducible benchmarks. We present…

Mixed cooperative-competitive control scenarios such as human-machine interaction with individual goals of the interacting partners are very challenging for reinforcement learning agents. In order to contribute towards intuitive…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

Artificial intelligence is commonly defined as the ability to achieve goals in the world. In the reinforcement learning framework, goals are encoded as reward functions that guide agent behaviour, and the sum of observed rewards provide a…

Robotics learning highly relies on human expertise and efforts, such as demonstrations, design of reward functions in reinforcement learning, performance evaluation using human feedback, etc. However, reliance on human assistance can lead…

Autonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific…