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

Learning to search is the task of building artificial agents that learn to autonomously use a search box to find information. So far, it has been shown that current language models can learn symbolic query reformulation policies, in…

This paper investigates a new approach to model-based reinforcement learning using background planning: mixing (approximate) dynamic programming updates and model-free updates, similar to the Dyna architecture. Background planning with…

With recent progress in large-scale map maintenance and long-term map learning, the task of change detection on a large-scale map from a visual image captured by a mobile robot has become a problem of increasing criticality. Previous…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

World models have recently emerged as a promising approach to reinforcement learning (RL), achieving state-of-the-art performance across a wide range of visual control tasks. This work aims to obtain a deep understanding of the robustness…

Traditional reinforcement learning (RL)-based learning approaches for wireless networks rely on expensive trial-and-error mechanisms and real-time feedback based on extensive environment interactions, which leads to low data efficiency and…

The capability of imagining internally with a mental model of the world is vitally important for human cognition. If a machine intelligent agent can learn a world model to create a "dream" environment, it can then internally ask what-if…

Reinforcement Learning (RL) applications in real-world scenarios must prioritize safety and reliability, which impose strict constraints on agent behavior. Model-based RL leverages predictive world models for action planning and policy…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

The ability to plan at many different levels of abstraction enables agents to envision the long-term repercussions of their decisions and thus enables sample-efficient learning. This becomes particularly beneficial in complex environments…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Being able to simulate the outcomes of actions in varied environments will revolutionize the development of generalist agents at scale. However, modeling these world dynamics, especially for dexterous robotics tasks, poses significant…

We present three improvements to the standard model-based RL paradigm based on transformers: (a) "Dyna with warmup", which trains the policy on real and imaginary data, but only starts using imaginary data after the world model has been…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

Image-text contrastive learning models such as CLIP have demonstrated strong task transfer ability. The high generality and usability of these visual models is achieved via a web-scale data collection process to ensure broad concept…

In this paper, we introduce ObjectZero, a novel reinforcement learning (RL) algorithm that leverages the power of object-level representations to model dynamic environments more effectively. Unlike traditional approaches that process the…

Widespread applications of deep learning have led to a plethora of pre-trained neural network models for common tasks. Such models are often adapted from other models via transfer learning. The models may have varying training sets,…

Discriminative self-supervised learning allows training models on any random group of internet images, and possibly recover salient information that helps differentiate between the images. Applied to ImageNet, this leads to object centric…

To overcome the absence of training data for unseen classes, conventional zero-shot learning approaches mainly train their model on seen datapoints and leverage the semantic descriptions for both seen and unseen classes. Beyond exploiting…

Leveraging class semantic descriptions and examples of known objects, zero-shot learning makes it possible to train a recognition model for an object class whose examples are not available. In this paper, we propose a novel zero-shot…