相关论文: Better World Models Can Lead to Better Post-Traini…

World models are a powerful paradigm in AI and robotics, enabling agents to reason about the future by predicting visual observations or compact latent states. The 1X World Model Challenge introduces an open-source benchmark of real-world…

Object-centric world models provide structured representation of the scene and can be an important backbone in reinforcement learning and planning. However, existing approaches suffer in partially-observable environments due to the lack of…

While neural representations are central to modern deep learning, the conditions governing their geometry and their roles in downstream adaptability remain poorly understood. We develop a framework clearly separating the underlying world,…

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…

Representations of the world environment play a crucial role in artificial intelligence. It is often inefficient to conduct reasoning and inference directly in the space of raw sensory representations, such as pixel values of images.…

Tool use in stateful environments presents unique challenges for large language models (LLMs), where existing test-time compute strategies relying on repeated trials in the environment are impractical. We propose dynamics modelling (DyMo),…

One significant simplification in most previous work on robot learning is the closed-world assumption where the robot is assumed to know ahead of time a complete set of predicates describing the state of the physical world. However, robots…

The utility of learning a dynamics/world model of the environment in reinforcement learning has been shown in a many ways. When using neural networks, however, these models suffer catastrophic forgetting when learned in a lifelong or…

Recent advances in post-training techniques have endowed Large Language Models (LLMs) with enhanced capabilities for tackling complex, logic-intensive tasks through the generation of supplementary planning tokens. This development raises a…

World models learn the consequences of actions in vision-based interactive systems. However, in practical scenarios like autonomous driving, noncontrollable dynamics that are independent or sparsely dependent on action signals often exist,…

Imitation can be viewed as a means of enhancing learning in multiagent environments. It augments an agent's ability to learn useful behaviors by making intelligent use of the knowledge implicit in behaviors demonstrated by cooperative…

Learning representations of neural network weights given a model zoo is an emerging and challenging area with many potential applications from model inspection, to neural architecture search or knowledge distillation. Recently, an…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

Training robot manipulation policies is a challenging and open problem in robotics and artificial intelligence. In this paper we propose a novel and compact state representation based on the rewards predicted from an image-based task…

Learned representations of dynamical systems reduce dimensionality, potentially supporting downstream reinforcement learning (RL). However, no established methods predict a representation's suitability for control and evaluation is largely…

Deep Reinforcement Learning (RL) has become the leading approach for creating artificial agents in complex environments. Model-based approaches, which are RL methods with world models that predict environment dynamics, are among the most…

Chain-of-thought (CoT) supervision can substantially improve transformer performance, yet the mechanisms by which models learn to follow and benefit from CoT remain poorly understood. We investigate these learning dynamics through the lens…

Recent unsupervised pre-training methods have shown to be effective on language and vision domains by learning useful representations for multiple downstream tasks. In this paper, we investigate if such unsupervised pre-training methods can…

Current control algorithms for aerial robots struggle with robustness in dynamic environments and adverse conditions. Model-based reinforcement learning (RL) has shown strong potential in handling these challenges while remaining…

So-called implicit behavioral cloning with energy-based models has shown promising results in robotic manipulation tasks. We tested if the method's advantages carry on to controlling the steering of a real self-driving car with an…