相关论文: Modeling Unseen Environments with Language-guided …

Compositional actions consist of dynamic (verbs) and static (objects) concepts. Humans can easily recognize unseen compositions using the learned concepts. For machines, solving such a problem requires a model to recognize unseen actions…

The advances in unsupervised object-centric representation learning have significantly improved its application to downstream tasks. Recent works highlight that disentangled object representations can aid policy learning in image-based,…

Model-based Reinforcement Learning approaches have the promise of being sample efficient. Much of the progress in learning dynamics models in RL has been made by learning models via supervised learning. But traditional model-based…

In Model-Based Reinforcement Learning (MBRL), incorporating causal structures into dynamics models provides agents with a structured understanding of the environments, enabling efficient decision. Empowerment as an intrinsic motivation…

Compositionality is a critical aspect of scalable system design. Reinforcement learning (RL) has recently shown substantial success in task learning, but has only recently begun to truly leverage composition. In this paper, we focus on…

Grounding language in perception and action is a key challenge when building situated agents that can interact with humans, or other agents, via language. In the past, addressing this challenge has required manually designing the language…

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…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

In this work, we propose a novel algorithmic framework for data sharing and coordinated exploration for the purpose of learning more data-efficient and better performing policies under a concurrent reinforcement learning (CRL) setting. In…

As a key component to intuitive cognition and reasoning solutions in human intelligence, causal knowledge provides great potential for reinforcement learning (RL) agents' interpretability towards decision-making by helping reduce the…

Latent world models allow agents to reason about complex environments with high-dimensional observations. However, adapting to new environments and effectively leveraging previous knowledge remain significant challenges. We present…

Recent disentangled representation learning (DRL) methods heavily rely on factor specific strategies-either learning objectives for attributes or model architectures for objects-to embed inductive biases. Such divergent approaches result in…

Causal representation learning has attracted significant research interest during the past few years, as a means for improving model generalization and robustness. Causal representations of interventional image pairs (also called…

Some of the most important tasks take place in environments which lack cheap and perfect simulators, thus hampering the application of model-free reinforcement learning (RL). While model-based RL aims to learn a dynamics model, in a more…

Embedding models for entities and relations are extremely useful for recovering missing facts in a knowledge base. Intuitively, a relation can be modeled by a matrix mapping entity vectors. However, relations reside on low dimension…

Reinforcement learning (RL) agents have shown remarkable performances in various environments, where they can discover effective policies directly from sensory inputs. However, these agents often exploit spurious correlations in the…

Learning generalist embodied agents, able to solve multitudes of tasks in different domains is a long-standing problem. Reinforcement learning (RL) is hard to scale up as it requires a complex reward design for each task. In contrast,…

Recently, incorporating natural language instructions into reinforcement learning (RL) to learn semantically meaningful representations and foster generalization has caught many concerns. However, the semantical information in language…

Many tasks in control, robotics, and planning can be specified using desired goal configurations for various entities in the environment. Learning goal-conditioned policies is a natural paradigm to solve such tasks. However, current…

As a pivotal component to attaining generalizable solutions in human intelligence, reasoning provides great potential for reinforcement learning (RL) agents' generalization towards varied goals by summarizing part-to-whole arguments and…