相关论文: Learning telic-controllable state representations

The pursuit of general intelligence has traditionally centered on external objectives: an agent's control over its environments or mastery of specific tasks. This external focus, however, can produce specialized agents that lack…

State representation learning aims at learning compact representations from raw observations in robotics and control applications. Approaches used for this objective are auto-encoders, learning forward models, inverse dynamics or learning…

Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee…

Recent breakthroughs in AI have shown the remarkable power of deep learning and deep reinforcement learning. These developments, however, have been tied to specific tasks, and progress in out-of-distribution generalization has been limited.…

Model-based reinforcement learning methods typically learn models for high-dimensional state spaces by aiming to reconstruct and predict the original observations. However, drawing inspiration from model-free reinforcement learning, we…

In this work, we introduce dual goal representations for goal-conditioned reinforcement learning (GCRL). A dual goal representation characterizes a state by "the set of temporal distances from all other states"; in other words, it encodes a…

Over the last few years, we have not seen any major developments in model-free or model-based learning methods that would make one obsolete relative to the other. In most cases, the used technique is heavily dependent on the use case…

Formally verifying the correctness of mathematical proofs is more accessible than ever, however, the learning curve remains steep for many of the state-of-the-art interactive theorem provers (ITP). Deriving the most appropriate subsequent…

Goal-conditioned reinforcement learning (RL) concerns the problem of training an agent to maximize the probability of reaching target goal states. This paper presents an analysis of the goal-conditioned setting based on optimal control. In…

Representation learning is a central challenge across a range of machine learning areas. In reinforcement learning, effective and functional representations have the potential to tremendously accelerate learning progress and solve more…

This paper introduces a novel framework for modeling interacting humans in a multi-stage game. This "iterated semi network-form game" framework has the following desirable characteristics: (1) Bounded rational players, (2) strategic players…

Techniques based on Reinforcement Learning (RL) are increasingly being used to design control policies for robotic systems. RL fundamentally relies on state-based reward functions to encode desired behavior of the robot and bad reward…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…

Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access…

Unified multimodal models can encode visual understanding and image generation within a shared backbone, yet understanding does not automatically translate into control: models may infer objects, relations, or knowledge cues but fail to…

Can neural networks learn goal-directed behaviour using similar strategies to the brain, by combining the relationships between the current state of the organism and the consequences of future actions? Recent work has shown that recurrent…

We study reinforcement learning (RL) in settings where observations are high-dimensional, but where an RL agent has access to abstract knowledge about the structure of the state space, as is the case, for example, when a robot is tasked to…

The performance of multi-agent reinforcement learning (MARL) in partially observable environments depends on effectively aggregating information from observations, communications, and reward signals. While most existing multi-agent systems…

Autonomous robots need to be able to adapt to unforeseen situations and to acquire new skills through trial and error. Reinforcement learning in principle offers a suitable methodological framework for this kind of autonomous learning.…