相关论文: Accurate and Efficient World Modeling with Masked …

Language model (LM)-based embodied agents are increasingly deployed in real-world settings. Yet, their adaptability remains limited in dynamic environments, where constructing accurate and flexible world models is crucial for effective…

People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…

In the face of difficult exploration problems in reinforcement learning, we study whether giving an agent an object-centric mapping (describing a set of items and their attributes) allow for more efficient learning. We found this problem is…

Discrete Diffusion Language Models have emerged as a compelling paradigm for unified multimodal generation, yet their deployment is hindered by high inference latency arising from iterative decoding. Existing acceleration strategies often…

Compared to traditional imitation learning methods such as DAgger and DART, intervention-based imitation offers a more convenient and sample efficient data collection process to users. In this paper, we introduce Reinforced…

Multi-agent path finding (MAPF) is an indispensable component of large-scale robot deployments in numerous domains ranging from airport management to warehouse automation. In particular, this work addresses lifelong MAPF (LMAPF) - an online…

Reinforcement Learning (RL) algorithms can learn robotic control tasks from visual observations, but they often require a large amount of data, especially when the visual scene is complex and unstructured. In this paper, we explore how the…

Model-Based Reinforcement Learning yields sample efficiency via latent imagination, yet remains constrained by Historical Tethering: imagination is typically initialized from observed states. This creates a learning asymmetry, where the…

In embodied AI, a persistent challenge is enabling agents to robustly adapt to novel domains without requiring extensive data collection or retraining. To address this, we present a world model implanting framework (WorMI) that combines the…

Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning directly from high-dimensional visual input is often…

In this work, we study the problem of Embodied Referring Expression Grounding, where an agent needs to navigate in a previously unseen environment and localize a remote object described by a concise high-level natural language instruction.…

Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…

Given a simple request like Put a washed apple in the kitchen fridge, humans can reason in purely abstract terms by imagining action sequences and scoring their likelihood of success, prototypicality, and efficiency, all without moving a…

Agents that are aware of the separation between themselves and their environments can leverage this understanding to form effective representations of visual input. We propose an approach for learning such structured representations for RL…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…

LLM/VLM-based digital agents have advanced rapidly thanks to scalable sandboxes for coding, web navigation, and computer use, which provide rich interactive training grounds. In contrast, embodied agents still lack abundant, diverse, and…

Offline multi-agent reinforcement learning (MARL) aims to solve cooperative decision-making problems in multi-agent systems using pre-collected datasets. Existing offline MARL methods primarily constrain training within the dataset…

While recent advancements in robotic manipulation video synthesis have shown promise, significant challenges persist in ensuring effective instruction-following and achieving high visual quality. Recent methods, like RoboDreamer, utilize…

Generative models face a fundamental challenge: they must simultaneously learn high-level semantic concepts (what to generate) and low-level synthesis details (how to generate it). Conventional end-to-end training entangles these distinct,…