相关论文: Physically-Grounded Goal Imagination: Physics-Info…

Reinforcement learning has shown great potential in generalizing over raw sensory data using only a single neural network for value optimization. There are several challenges in the current state-of-the-art reinforcement learning algorithms…

In scientific and engineering domains, modeling high-dimensional complex systems governed by partial differential equations (PDEs) remains challenging in terms of physical consistency and numerical stability. However, existing approaches,…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

The networked nature of multi-robot systems presents challenges in the context of multi-agent reinforcement learning. Centralized control policies do not scale with increasing numbers of robots, whereas independent control policies do not…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…

Continually solving new, unsolved tasks is the key to learning diverse behaviors. Through reinforcement learning (RL), we have made massive strides towards solving tasks that have a single goal. However, in the multi-task domain, where an…

The current paper presents how a predictive coding type deep recurrent neural networks can generate vision-based goal-directed plans based on prior learning experience by examining experiment results using a real arm robot. The proposed…

Physics-Informed Neural Networks (PINNs) provide a powerful and general framework for solving Partial Differential Equations (PDEs) by embedding physical laws into loss functions. However, training PINNs is notoriously difficult due to the…

A fundamental problem in computer animation is that of realizing purposeful and realistic human movement given a sufficiently-rich set of motion capture clips. We learn data-driven generative models of human movement using autoregressive…

Deep learning models trained on finite data lack a complete understanding of the physical world. On the other hand, physics-informed neural networks (PINNs) are infused with such knowledge through the incorporation of mathematically…

Automated discovery of early visual concepts from raw image data is a major open challenge in AI research. Addressing this problem, we propose an unsupervised approach for learning disentangled representations of the underlying factors of…

Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized…

Scenario-based testing is considered state-of-the-art for verifying and validating Advanced Driver Assistance Systems (ADASs) and Automated Driving Systems (ADSs). However, the practical application of scenario-based testing requires an…

Ideally, we would place a robot in a real-world environment and leave it there improving on its own by gathering more experience autonomously. However, algorithms for autonomous robotic learning have been challenging to realize in the real…

Generative Artificial Intelligence (AI) models are a compelling way to introduce K-12 students to AI education using an artistic medium, and hence have drawn attention from K-12 AI educators. Previous Creative AI curricula mainly focus on…

Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

Reinforcement learning (RL) often struggles to accomplish a sparse-reward long-horizon task in a complex environment. Goal-conditioned reinforcement learning (GCRL) has been employed to tackle this difficult problem via a curriculum of…

World models have become indispensable tools for embodied intelligence, serving as powerful simulators capable of generating realistic robotic videos while addressing critical data scarcity challenges. However, current embodied world models…