相关论文: Learning Transformer-based World Models with Contr…

Predicting and reasoning about the future lie at the heart of many time-series questions. For example, goal-conditioned reinforcement learning can be viewed as learning representations to predict which states are likely to be visited in the…

Much of recent Deep Reinforcement Learning success is owed to the neural architecture's potential to learn and use effective internal representations of the world. While many current algorithms access a simulator to train with a large…

The Transformer is a highly successful deep learning model that has revolutionised the world of artificial neural networks, first in natural language processing and later in computer vision. This model is based on the attention mechanism…

World modelling, i.e. building a representation of the rules that govern the world so as to predict its evolution, is an essential ability for any agent interacting with the physical world. Recent applications of the Transformer…

We propose Token Turing Machines (TTM), a sequential, autoregressive Transformer model with memory for real-world sequential visual understanding. Our model is inspired by the seminal Neural Turing Machine, and has an external memory…

Contrastive approaches to representation learning have recently shown great promise. In contrast to generative approaches, these contrastive models learn a deterministic encoder with no notion of uncertainty or confidence. In this paper, we…

Transformer, originally devised for natural language processing, has also attested significant success in computer vision. Thanks to its super expressive power, researchers are investigating ways to deploy transformers to reinforcement…

Reinforcement Learning (RL) has shown remarkable success in real-world applications, particularly in robotics control. However, RL adoption remains limited due to insufficient safety guarantees. We introduce Nightmare Dreamer, a model-based…

(Very early draft)Traditional supervised learning keeps pushing convolution neural network(CNN) achieving state-of-art performance. However, lack of large-scale annotation data is always a big problem due to the high cost of it, even…

A critical bottleneck in deep reinforcement learning (DRL) is sample inefficiency, as training high-performance agents often demands extensive environmental interactions. Model-based reinforcement learning (MBRL) mitigates this by building…

Understanding trajectory diversity is a fundamental aspect of addressing practical traffic tasks. However, capturing the diversity of trajectories presents challenges, particularly with traditional machine learning and recurrent neural…

World models are a fundamental component in model-based reinforcement learning (MBRL). To perform temporally extended and consistent simulations of the future in partially observable environments, world models need to possess long-term…

"Dreaming" enables agents to learn from imagined experiences, enabling more robust and sample-efficient learning of world models. In this work, we consider innovations to the state-of-the-art Dreamer model using probabilistic methods that…

We introduce DreamerV3-XP, an extension of DreamerV3 that improves exploration and learning efficiency. This includes (i) a prioritized replay buffer, scoring trajectories by return, reconstruction loss, and value error and (ii) an…

We present THUNDR, a transformer-based deep neural network methodology to reconstruct the 3d pose and shape of people, given monocular RGB images. Key to our methodology is an intermediate 3d marker representation, where we aim to combine…

World models represent a paradigm shift in generative AI, pursuing predictive understanding and controllable simulation of environments in a structured and generalizable way. We present World Machine, a generative world-modeling…

Data-efficiency and generalization are key challenges in deep learning and deep reinforcement learning as many models are trained on large-scale, domain-specific, and expensive-to-label datasets. Self-supervised models trained on…

Closed-loop simulation is crucial for end-to-end autonomous driving. Existing sensor simulation methods (e.g., NeRF and 3DGS) reconstruct driving scenes based on conditions that closely mirror training data distributions. However, these…

Learning world models offers a promising avenue for goal-conditioned reinforcement learning with sparse rewards. By allowing agents to plan actions or exploratory goals without direct interaction with the environment, world models enhance…

Considering how to make the model accurately understand and follow natural language instructions and perform actions consistent with world knowledge is a key challenge in robot manipulation. This mainly includes human fuzzy instruction…