相关论文: Robustness of Utilizing Feedback in Embodied Visua…

Providing Reinforcement Learning (RL) agents with human feedback can dramatically improve various aspects of learning. However, previous methods require human observer to give inputs explicitly (e.g., press buttons, voice interface),…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

Online reinforcement learning (RL) with sparse rewards poses a challenge partly because of the lack of feedback on states leading to the goal. Furthermore, expert offline data with reward signal is rarely available to provide this feedback…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

Reinforcement learning agents can learn to solve sequential decision tasks by interacting with the environment. Human knowledge of how to solve these tasks can be incorporated using imitation learning, where the agent learns to imitate…

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…

Commanding a robot to navigate with natural language instructions is a long-term goal for grounded language understanding and robotics. But the dominant language is English, according to previous studies on vision-language navigation (VLN).…

Embodied agents face a fundamental limitation: once deployed in real-world environments, they cannot easily acquire new knowledge to improve task performance. In this paper, we propose Dejavu, a general post-deployment learning framework…

Vision-language navigation (VLN) is the task of entailing an agent to carry out navigational instructions inside photo-realistic environments. One of the key challenges in VLN is how to conduct a robust navigation by mitigating the…

It is common to implicitly assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is itself a major challenge. We address the problem of learning to look around:…

Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen scenes, we develop an approach for learning visual…

An important goal in artificial intelligence is to create agents that can both interact naturally with humans and learn from their feedback. Here we demonstrate how to use reinforcement learning from human feedback (RLHF) to improve upon…

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…

The reasoning capabilities of embodied agents introduce a critical, under-explored inferential privacy challenge, where the risk of an agent generate sensitive conclusions from ambient data. This capability creates a fundamental tension…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

We deal with the navigation problem where the agent follows natural language instructions while observing the environment. Focusing on language understanding, we show the importance of spatial semantics in grounding navigation instructions…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Haptic feedback is an important component of creating an immersive mixed reality experience. Traditionally, haptic forces are rendered in response to the user's interactions with the virtual environment. In this work, we explore the idea of…

Embodied agents can benefit from skills that guide object search, action execution, and state changes across diverse environments. Since embodied environments vary across layouts, object states, and other execution factors, these skills…

Often, recommendation systems employ continuous training, leading to a self-feedback loop bias in which the system becomes biased toward its previous recommendations. Recent studies have attempted to mitigate this bias by collecting small…