相关论文: Training Cross-Morphology Embodied AI Agents: From…

This position paper argues that the next generation of artificial intelligence in meteorological and climate sciences must transition from fragmented hybrid heuristics toward a unified paradigm of physics-guided multimodal transformers.…

Embodied agents operating in complex and uncertain environments face considerable challenges. While some advanced agents handle complex manipulation tasks with proficiency, their success often hinges on extensive training data to develop…

This work presents an embodied agent that can adapt its semantic segmentation network to new indoor environments in a fully autonomous way. Because semantic segmentation networks fail to generalize well to unseen environments, the agent…

The deployment of pre-trained models (PTMs) has greatly advanced the field of continual learning (CL), enabling positive knowledge transfer and resilience to catastrophic forgetting. To sustain these advantages for sequentially arriving…

Embodied manipulation is a fundamental ability in the realm of embodied artificial intelligence. Although current embodied manipulation models show certain generalizations in specific settings, they struggle in new environments and tasks…

Sample complexity and safety are major challenges when learning policies with reinforcement learning for real-world tasks, especially when the policies are represented using rich function approximators like deep neural networks. Model-based…

Robotic systems lack a principled abstraction for organizing intelligence, capabilities, and execution in a unified manner. Existing approaches either couple skills within monolithic architectures or decompose functionality into loosely…

Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challenging, especially for systems that have a large number of…

When adopting a deep learning model for embodied agents, it is required that the model structure be optimized for specific tasks and operational conditions. Such optimization can be static such as model compression or dynamic such as…

An embodied agent constantly influences its environment and is influenced by it. We use the sensorimotor loop to model these interactions and thereby we can quantify different information flows in the system by various information theoretic…

Feature transformation enhances downstream task performance by generating informative features through mathematical feature crossing. Despite the advancements in deep learning, feature transformation remains essential for structured data,…

We present a framework combining hierarchical and multi-agent deep reinforcement learning approaches to solve coordination problems among a multitude of agents using a semi-decentralized model. The framework extends the multi-agent learning…

The integration of unmanned platforms equipped with advanced sensors promises to enhance situational awareness and mitigate the "fog of war" in military operations. However, managing the vast influx of data from these platforms poses a…

According to cognitive psychology and related disciplines, the development of complex problem-solving behaviour in biological agents depends on hierarchical cognitive mechanisms. Hierarchical reinforcement learning is a promising…

We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…

Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…

Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for direct execution on a robot. Still, these demonstrations convey…

Learning-based whole-body controllers have become a key driver for humanoid robots, yet most existing approaches require robot-specific training. In this paper, we study the problem of cross-embodiment humanoid control and show that a…

Learning from structured data is a core machine learning task. Commonly, such data is represented as graphs, which normally only consider (typed) binary relationships between pairs of nodes. This is a substantial limitation for many domains…

Many potential applications of reinforcement learning in the real world involve interacting with other agents whose numbers vary over time. We propose new neural policy architectures for these multi-agent problems. In contrast to other…