相关论文: CogExplore: Contextual Exploration with Language-E…

Reinforcement learning (RL), particularly in sparse reward settings, often requires prohibitively large numbers of interactions with the environment, thereby limiting its applicability to complex problems. To address this, several prior…

Large Language Models (LLMs) achieve remarkable performance through pretraining on extensive data. This enables efficient adaptation to diverse downstream tasks. However, the lack of interpretability in their underlying mechanisms limits…

Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often…

Large Language Models (LLMs) struggle with complex reasoning due to limited diversity and inefficient search. We propose Soft Reasoning, an embedding-based search framework that optimises the embedding of the first token to guide…

Scarce data is a major challenge to scaling robot learning to truly complex tasks, as we need to generalize locally learned policies over different task contexts. Contextual policy search offers data-efficient learning and generalization by…

Tackling complex optimization problems often relies on expert-designed heuristics, typically crafted through extensive trial and error. Recent advances demonstrate that large language models (LLMs), when integrated into well-designed…

In contrast to classical cognitive science which studied brains in isolation, ecological approaches focused on the role of the body and environment in shaping cognition. Similarly, in this thesis we adopt an ecological approach to grounded…

Recent advances in vision-language learning have achieved notable success on complete-information question-answering datasets through the integration of extensive world knowledge. Yet, most models operate passively, responding to questions…

We consider the problem of time-limited robotic exploration in previously unseen environments where exploration is limited by a predefined amount of time. We propose a novel exploration approach using learning-augmented model-based…

Reinforcement learning algorithms typically struggle in the absence of a dense, well-shaped reward function. Intrinsically motivated exploration methods address this limitation by rewarding agents for visiting novel states or transitions,…

Humans are expert explorers. Understanding the computational cognitive mechanisms that support this efficiency can advance the study of the human mind and enable more efficient exploration algorithms. We hypothesize that humans explore new…

While language model (LM)-powered chatbots and generative search engines excel at answering concrete queries, discovering information in the terrain of unknown unknowns remains challenging for users. To emulate the common educational…

How do large language models solve spatial navigation tasks? We investigate this by training GPT-2 models on three spatial learning paradigms in grid environments: passive exploration (Foraging Model- predicting steps in random walks),…

Understanding how linguistic structures are encoded in contextualized embedding could help explain their impressive performance across NLP@. Existing approaches for probing them usually call for training classifiers and use the accuracy,…

Large Language Model (LLM) agents are deployed in complex environments -- such as massive codebases, enterprise databases, and conversational histories -- where the relevant state far exceeds their context windows. To navigate these spaces,…

Large-scale natural language understanding (NLU) systems have made impressive progress: they can be applied flexibly across a variety of tasks, and employ minimal structural assumptions. However, extensive empirical research has shown this…

The ability to combine linguistic guidance from others with direct experience is central to human development, enabling safe and rapid learning in new environments. How do people integrate these two sources of knowledge, and how might AI…

Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

Navigating robots through unstructured terrains is challenging, primarily due to the dynamic environmental changes. While humans adeptly navigate such terrains by using context from their observations, creating a similar context-aware…