相关论文: Latent Action World Models for Control with Unlabe…

Latent action learning infers pseudo-action labels from visual transitions, providing an approach to leverage internet-scale video for embodied AI. However, most methods learn latent actions without structural priors that encode the…

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,…

In this work, we present Conditional Adversarial Latent Models (CALM), an approach for generating diverse and directable behaviors for user-controlled interactive virtual characters. Using imitation learning, CALM learns a representation of…

Much of model-based reinforcement learning involves learning a model of an agent's world, and training an agent to leverage this model to perform a task more efficiently. While these models are demonstrably useful for agents, every…

We learn an interactive vision-based driving policy from pre-recorded driving logs via a model-based approach. A forward model of the world supervises a driving policy that predicts the outcome of any potential driving trajectory. To…

Learning a latent dynamics model provides a task-agnostic representation of an agent's understanding of its environment. Leveraging this knowledge for model-based reinforcement learning (RL) holds the potential to improve sample efficiency…

Latent action models (LAMs) aim to learn action-like representations from unlabeled videos by compressing frame-to-frame changes. The frames of in-the-wild videos, however, contain not only the agent's own state but exogenous state such as…

In many real-world scenarios, labeled data for a specific machine learning task is costly to obtain. Semi-supervised training methods make use of abundantly available unlabeled data and a smaller number of labeled examples. We propose a new…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

Learning physical dynamics in a series of non-stationary environments is a challenging but essential task for model-based reinforcement learning (MBRL) with visual inputs. It requires the agent to consistently adapt to novel tasks without…

Model-Based Reinforcement Learning involves learning a \textit{dynamics model} from data, and then using this model to optimise behaviour, most often with an online \textit{planner}. Much of the recent research along these lines presents a…

Unsupervised pre-training methods utilizing large and diverse datasets have achieved tremendous success across a range of domains. Recent work has investigated such unsupervised pre-training methods for model-based reinforcement learning…

Model-based Deep Reinforcement Learning (RL) assumes the availability of a model of an environment's underlying transition dynamics. This model can be used to predict future effects of an agent's possible actions. When no such model is…

Adapting pretrained video generation models into controllable world models via latent actions is a promising step towards creating generalist world models. The dominant paradigm adopts a two-stage approach that trains latent action model…

Large and diverse datasets have been the cornerstones of many impressive advancements in artificial intelligence. Intelligent creatures, however, learn by interacting with the environment, which changes the input sensory signals and the…

In this paper we study the problem of learning multi-step dynamics prediction models (jumpy models) from unlabeled experience and their utility for fast inference of (high-level) plans in downstream tasks. In particular we propose to learn…

Semi-supervised action recognition aims to improve spatio-temporal reasoning ability with a few labeled data in conjunction with a large amount of unlabeled data. Albeit recent advancements, existing powerful methods are still prone to…

Action planning using learned and differentiable forward models of the world is a general approach which has a number of desirable properties, including improved sample complexity over model-free RL methods, reuse of learned models across…

Context plays a significant role in the generation of motion for dynamic agents in interactive environments. This work proposes a modular method that utilises a learned model of the environment for motion prediction. This modularity…

To quickly solve new tasks in complex environments, intelligent agents need to build up reusable knowledge. For example, a learned world model captures knowledge about the environment that applies to new tasks. Similarly, skills capture…