相关论文: Learning telic-controllable state representations

Purposeful behavior is a hallmark of natural and artificial intelligence. Its acquisition is often believed to rely on world models, comprising both descriptive (what is) and prescriptive (what is desirable) aspects that identify and…

Our goals fundamentally shape how we experience the world. For example, when we are hungry, we tend to view objects in our environment according to whether or not they are edible (or tasty). Alternatively, when we are cold, we may view the…

Goal-conditioned planning benefits from learned low-dimensional representations of rich observations. While compact latent representations typically learned from variational autoencoders or inverse dynamics enable goal-conditioned decision…

In reinforcement learning, an agent learns to reach a set of goals by means of an external reward signal. In the natural world, intelligent organisms learn from internal drives, bypassing the need for external signals, which is beneficial…

Apprenticeship learning crucially depends on effectively learning rewards, and hence control policies from user demonstrations. Of particular difficulty is the setting where the desired task consists of a number of sub-goals with temporal…

One of the fundamental challenges in reinforcement learning (RL) is the one of data efficiency: modern algorithms require a very large number of training samples, especially compared to humans, for solving environments with high-dimensional…

To increase autonomy in reinforcement learning, agents need to learn useful behaviours without reliance on manually designed reward functions. To that end, skill discovery methods have been used to learn the intrinsic options available to…

Building autonomous machines that can explore open-ended environments, discover possible interactions and build repertoires of skills is a general objective of artificial intelligence. Developmental approaches argue that this can only be…

Goal-conditioned reinforcement learning endows an agent with a large variety of skills, but it often struggles to solve tasks that require more temporally extended reasoning. In this work, we propose to incorporate imagined subgoals into…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

This paper presents a cloud-based learning model predictive controller that integrates three interacting components: a set of agents, which must learn to perform a finite set of tasks with the minimum possible local cost; a coordinator,…

This paper presents a novel state representation for reward-free Markov decision processes. The idea is to learn, in a self-supervised manner, an embedding space where distances between pairs of embedded states correspond to the minimum…

Reinforcement Learning (RL) can enable agents to learn complex tasks. However, it is difficult to interpret the knowledge and reuse it across tasks. Inductive biases can address such issues by explicitly providing generic yet useful…

Learning a good state representation is a critical skill when dealing with multiple tasks in Reinforcement Learning as it allows for transfer and better generalization between tasks. However, defining what constitute a useful representation…

Reinforcement learning in partially observable environments is typically challenging, as it requires agents to learn an estimate of the underlying system state. These challenges are exacerbated in multi-agent settings, where agents learn…

We study the problem of predicting and controlling the future state distribution of an autonomous agent. This problem, which can be viewed as a reframing of goal-conditioned reinforcement learning (RL), is centered around learning a…

We tackle the blackbox issue of deep neural networks in the settings of reinforcement learning (RL) where neural agents learn towards maximizing reward gains in an uncontrollable way. Such learning approach is risky when the interacting…

Assessing the systemic effects of uncertainty that arises from agents' partial observation of the true states of the world is critical for understanding a wide range of scenarios. Yet, previous modeling work on agent learning and…

Random delays weaken the temporal correspondence between actions and subsequent state feedback, making it difficult for agents to identify the true propagation process of action effects. In cross-task scenarios, changes in task objectives…

A large part of the interest in model-based reinforcement learning derives from the potential utility to acquire a forward model capable of strategic long term decision making. Assuming that an agent succeeds in learning a useful predictive…