相关论文: A Motivational Architecture for Open-Ended Learnin…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Large language models (LLMs) have shown remarkable abilities in logical reasoning, in-context learning, and code generation. However, translating natural language instructions into effective robotic control policies remains a significant…

Reinforcement Learning (RL) has proven largely effective in obtaining stable locomotion gaits for legged robots. However, designing control algorithms which can robustly navigate unseen environments with obstacles remains an ongoing problem…

The advancement of general-purpose intelligent agents is intrinsically linked to the environments in which they are trained. While scaling models and datasets has yielded remarkable capabilities, scaling the complexity, diversity, and…

Hierarchical agents have the potential to solve sequential decision making tasks with greater sample efficiency than their non-hierarchical counterparts because hierarchical agents can break down tasks into sets of subtasks that only…

In many real-world scenarios, an autonomous agent often encounters various tasks within a single complex environment. We propose to build a graph abstraction over the environment structure to accelerate the learning of these tasks. Here,…

We propose a hierarchical framework for collaborative intelligent systems. This framework organizes research challenges based on the nature of the collaborative activity and the information that must be shared, with each level building on…

Multiagent reinforcement learning (MARL) is commonly considered to suffer from non-stationary environments and exponentially increasing policy space. It would be even more challenging when rewards are sparse and delayed over long…

Image and video generative models that are pre-trained on Internet-scale data can greatly increase the generalization capacity of robot learning systems. These models can function as high-level planners, generating intermediate subgoals for…

Hierarchical Reinforcement Learning (HRL) agents have the potential to demonstrate appealing capabilities such as planning and exploration with abstraction, transfer, and skill reuse. Recent successes with HRL across different domains…

We propose an active learning architecture for robots, capable of organizing its learning process to achieve a field of complex tasks by learning sequences of motor policies, called Intrinsically Motivated Procedure Babbling (IM-PB). The…

Goal-conditioned hierarchical reinforcement learning (GCHRL) provides a promising approach to solving long-horizon tasks. Recently, its success has been extended to more general settings by concurrently learning hierarchical policies and…

The needs describe the necessities for a system to survive and evolve, which arouses an agent to action toward a goal, giving purpose and direction to behavior. Based on Maslow hierarchy of needs, an agent needs to satisfy a certain amount…

What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? This work answers this question using opening of articulated structures as a mobile…

Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This paper presents a novel approach that utilizes a…

For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspable objects. However, prior works on non-prehensile…

Common approaches to Reinforcement Learning (RL) are seriously challenged by large-scale applications involving huge state spaces and sparse delayed reward feedback. Hierarchical Reinforcement Learning (HRL) methods attempt to address this…

Continual learning (CL) is a branch of machine learning that aims to enable agents to adapt and generalise previously learned abilities so that these can be reapplied to new tasks or environments. This is particularly useful in multi-task…

Decentralized combinatorial optimization in evolving multi-agent systems poses significant challenges, requiring agents to balance long-term decision-making, short-term optimized collective outcomes, while preserving autonomy of interactive…

Multi-Agent Reinforcement Learning (MARL) approaches have emerged as popular solutions to address the general challenges of cooperation in multi-agent environments, where the success of achieving shared or individual goals critically…