相关论文: Zero-shot World Models via Search in Memory

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

Meta-learning is a line of research that develops the ability to leverage past experiences to efficiently solve new learning problems. Meta-Reinforcement Learning (meta-RL) methods demonstrate a capability to learn behaviors that…

Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…

Deep learning has become the most popular direction in machine learning and artificial intelligence. However, the preparation of training data, as well as model training, are often time-consuming and become the bottleneck of the end-to-end…

Real world learning scenarios involve a nonstationary distribution of classes with sequential dependencies among the samples, in contrast to the standard machine learning formulation of drawing samples independently from a fixed, typically…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios such as autonomous driving, there commonly exists noncontrollable dynamics independent of the action signals, making it…

In this work we present a method for leveraging data from one source to learn how to do multiple new tasks. Task transfer is achieved using a self-model that encapsulates the dynamics of a system and serves as an environment for…

The robustness of any machine learning solution is fundamentally bound by the data it was trained on. One way to generalize beyond the original training is through human-informed augmentation of the original dataset; however, it is…

How can artificial agents learn to solve many diverse tasks in complex visual environments in the absence of any supervision? We decompose this question into two problems: discovering new goals and learning to reliably achieve them. We…

The recent adaptation of deep neural network-based methods to reinforcement learning and planning domains has yielded remarkable progress on individual tasks. Nonetheless, progress on task-to-task transfer remains limited. In pursuit of…

Previous Vision-Language-Action models face critical limitations in navigation: scarce, diverse data from labor-intensive collection and static representations that fail to capture temporal dynamics and physical laws. We propose NavDreamer,…

Novel architectures have recently improved generative image synthesis leading to excellent visual quality in various tasks. Much of this success is due to the scalability of these architectures and hence caused by a dramatic increase in…

One-shot imitation is to learn a new task from a single demonstration, yet it is a challenging problem to adopt it for complex tasks with the high domain diversity inherent in a non-stationary environment. To tackle the problem, we explore…

Humans perceive the world through multiple senses, enabling them to create a comprehensive representation of their surroundings and to generalize information across domains. For instance, when a textual description of a scene is given,…

Zero-shot reinforcement learning (RL) promises to provide agents that can perform any task in an environment after an offline, reward-free pre-training phase. Methods leveraging successor measures and successor features have shown strong…

World models for environments with many objects face a combinatorial explosion of states: as the number of objects increases, the number of possible arrangements grows exponentially. In this paper, we learn to generalize over robotic…

It is a long-standing challenge to enable an intelligent agent to learn in one environment and generalize to an unseen environment without further data collection and finetuning. In this paper, we consider a zero shot generalization problem…

Continual reinforcement learning (CRL) refers to a naturalistic setting where an agent needs to endlessly evolve, by trial and error, to solve multiple tasks that are presented sequentially. One of the largest obstacles to CRL is that the…

World models simulate environment dynamics from raw sensory inputs like video. However, using them for planning can be challenging due to the vast and unstructured search space. We propose a robust and highly parallelizable planner that…

A world model is an internal model that simulates how the world evolves. Given past observations and actions, it predicts the future physical state of both the embodied agent and its environment. Accurate world models are essential for…