相关论文: Temporal Representation Alignment: Successor Featu…

We introduce a weakly supervised method for representation learning based on aligning temporal sequences (e.g., videos) of the same process (e.g., human action). The main idea is to use the global temporal ordering of latent correspondences…

Environments in Reinforcement Learning are usually only partially observable. To address this problem, a possible solution is to provide the agent with information about the past. However, providing complete observations of numerous steps…

Compositionality is a hallmark of human language that not only enables linguistic generalization, but also potentially facilitates acquisition. When simulating language emergence with neural networks, compositionality has been shown to…

Many advanced Learning from Demonstration (LfD) methods consider the decomposition of complex, real-world tasks into simpler sub-tasks. By reusing the corresponding sub-policies within and between tasks, they provide training data for each…

Machine learning approaches to spatiotemporal physical systems have primarily focused on next-frame prediction, with the goal of learning an accurate emulator for the system's evolution in time. However, these emulators are computationally…

World models have demonstrated impressive performance on robotic learning tasks. Many such tasks inherently demand multimodal reasoning; for example, filling a bottle with water will lead to visual information alone being ambiguous or…

This paper discusses a system that accelerates reinforcement learning by using transfer from related tasks. Without such transfer, even if two tasks are very similar at some abstract level, an extensive re-learning effort is required. The…

Effective exploration in reinforcement learning requires not only tracking where an agent has been, but also understanding how the agent perceives and represents the world. To learn powerful representations, an agent should actively explore…

Recognizing visual entities in a natural language sentence and arranging them in a 2D spatial layout require a compositional understanding of language and space. This task of layout prediction is valuable in text-to-image synthesis as it…

In this study, we address the challenge of learning generalizable policies for compositional tasks defined by logical specifications. These tasks consist of multiple temporally extended sub-tasks. Due to the sub-task inter-dependencies and…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…

Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…

Natural language has the universal properties of being compositional and grounded in reality. The emergence of linguistic properties is often investigated through simulations of emergent communication in referential games. However, these…

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

We propose a framework that learns to execute natural language instructions in an environment consisting of goal-reaching tasks that share components of their task descriptions. Our approach leverages the compositionality of both value…

It is evidence that representation learning can improve model's performance over multiple downstream tasks in many real-world scenarios, such as image classification and recommender systems. Existing learning approaches rely on establishing…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

Collecting robotic manipulation data is expensive, making it impractical to acquire demonstrations for the combinatorially large space of tasks that arise in multi-object, multi-robot, and multi-environment settings. While recent generative…