相关论文: Learning World Models for Unconstrained Goal Navig…

Enabling embodied agents to imagine future states is essential for robust and generalizable visual navigation. Yet, state-of-the-art systems typically rely on modular designs that decouple navigation planning from visual world modeling,…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

Model-based next state prediction and state value prediction are slow to converge. To address these challenges, we do the following: i) Instead of a neural network, we do model-based planning using a parallel memory retrieval system (which…

We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric…

World models power some of the most efficient reinforcement learning algorithms. In this work, we showcase that they can be harnessed for continual learning - a situation when the agent faces changing environments. World models typically…

In this paper, we present a novel approach to incrementally learn an Abstract Model of an unknown environment, and show how an agent can reuse the learned model for tackling the Object Goal Navigation task. The Abstract Model is a finite…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Robots deployed in unstructured human environments must frequently execute long-horizon missions, such as find the mug, then the chair, then the printer, under strict operational constraints. While contemporary zero-shot Object Navigation…

Efficient exploration is necessary to achieve good sample efficiency for reinforcement learning in general. From small, tabular settings such as gridworlds to large, continuous and sparse reward settings such as robotic object manipulation…

A central challenge in reinforcement learning is discovering effective policies for tasks where rewards are sparsely distributed. We postulate that in the absence of useful reward signals, an effective exploration strategy should seek out…

A generative recurrent neural network is quickly trained in an unsupervised manner to model popular reinforcement learning environments through compressed spatio-temporal representations. The world model's extracted features are fed into…

Navigation is a fundamental capability for mobile robots. While the current trend is to use learning-based approaches to replace traditional geometry-based methods, existing end-to-end learning-based policies often struggle with 3D spatial…

We explore building generative neural network models of popular reinforcement learning environments. Our world model can be trained quickly in an unsupervised manner to learn a compressed spatial and temporal representation of the…

The history of learning for control has been an exciting back and forth between two broad classes of algorithms: planning and reinforcement learning. Planning algorithms effectively reason over long horizons, but assume access to a local…

Can we learn policies in reinforcement learning without rewards? Can we learn a policy just by trying to reach a goal state? We answer these questions positively by proposing a multi-step procedure that first learns a world model that goes…

This paper introduces the concept of Language-Guided World Models (LWMs) -- probabilistic models that can simulate environments by reading texts. Agents equipped with these models provide humans with more extensive and efficient control,…

World models enable robots to conduct counterfactual reasoning in physical environments by predicting future world states. While conventional approaches often prioritize pixel-level reconstruction of future scenes, such detailed rendering…

A key challenge in complex visuomotor control is learning abstract representations that are effective for specifying goals, planning, and generalization. To this end, we introduce universal planning networks (UPN). UPNs embed differentiable…

Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging due to its reliance on high-quality expert demonstrations.…

Large Language Models (LLMs) can serve as world models to enhance agent decision-making in digital environments by simulating future states and predicting action outcomes, potentially eliminating costly trial-and-error exploration. However,…