相关论文: Learning Cognitive Maps from Transformer Represent…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Humans and animals show remarkable learning efficiency, adapting to new environments with minimal experience. This capability is not well captured by standard reinforcement learning algorithms that rely on incremental value updates. Rapid…

Accurate renewable energy forecasting is essential to reduce dependence on fossil fuels and enabling grid decarbonization. However, current approaches fail to effectively integrate the rich spatial context of weather patterns with their…

In real-world reinforcement learning (RL) scenarios, agents often encounter partial observability, where incomplete or noisy information obscures the true state of the environment. Partially Observable Markov Decision Processes (POMDPs) are…

In this paper, we study representation learning in partially observable Markov Decision Processes (POMDPs), where the agent learns a decoder function that maps a series of high-dimensional raw observations to a compact representation and…

To generalize across tasks, an agent should acquire knowledge from past tasks that facilitate adaptation and exploration in future tasks. We focus on the problem of in-context adaptation and exploration, where an agent only relies on…

Agents navigating in 3D environments require some form of memory, which should hold a compact and actionable representation of the history of observations useful for decision taking and planning. In most end-to-end learning approaches the…

Imitation learning is an intuitive approach for teaching motion to robotic systems. Although previous studies have proposed various methods to model demonstrated movement primitives, one of the limitations of existing methods is that the…

This paper introduces a novel architecture for trajectory-conditioned forecasting of future 3D scene occupancy. In contrast to methods that rely on variational autoencoders (VAEs) to generate discrete occupancy tokens, which inherently…

Autonomous navigation of terrestrial robots using Reinforcement Learning (RL) from LIDAR observations remains challenging due to the high dimensionality of sensor data and the sample inefficiency of model-free approaches. Conventional…

Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…

Cognitive scientists believe adaptable intelligent agents like humans perform reasoning through learned causal mental simulations of agents and environments. The problem of learning such simulations is called predictive world modeling.…

This paper addresses the data-driven identification of latent dynamical representations of partially-observed systems, i.e., dynamical systems for which some components are never observed, with an emphasis on forecasting applications,…

Being able to perceive the semantics and the spatial structure of the environment is essential for visual navigation of a household robot. However, most existing works only employ visual backbones pre-trained either with independent images…

We introduce a Transformer-based Reinforcement Learning framework for autonomous orbital collision avoidance that explicitly models the effects of partial observability and imperfect monitoring in space operations. The framework combines a…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

Driving in a complex urban environment is a difficult task that requires a complex decision policy. In order to make informed decisions, one needs to gain an understanding of the long-range context and the importance of other vehicles. In…

Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system's optimal decision…

A cognitive map is an internal model which encodes the abstract relationships among entities in the world, giving humans and animals the flexibility to adapt to new situations, with a strong out-of-distribution (OOD) generalization that…

Many important problems require modelling large-scale spatio-temporal datasets, with one prevalent example being weather forecasting. Recently, transformer-based approaches have shown great promise in a range of weather forecasting…