相关论文: Object-Centric World Models Meet Monte Carlo Tree …

Model-based reinforcement learning (MBRL) has been used to efficiently solve vision-based control tasks in highdimensional image observations. Although recent MBRL algorithms perform well in trained observations, they fail when faced with…

Despite progress in visual perception tasks such as image classification and detection, computers still struggle to understand the interdependency of objects in the scene as a whole, e.g., relations between objects or their attributes.…

Nonprehensile manipulation is essential for manipulating objects that are too thin, large, or otherwise ungraspable in the wild. To sidestep the difficulty of contact modeling in conventional modeling-based approaches, reinforcement…

ChatGPT said: Text-attributed graphs, where nodes and edges contain rich textual information, are widely used across diverse domains. A central challenge in this setting is question answering, which requires jointly leveraging unstructured…

Reinforcement learning (RL) is a general and well-known method that a robot can use to learn an optimal control policy to solve a particular task. We would like to build a versatile robot that can learn multiple tasks, but using RL for each…

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…

This paper presents Grammar Reinforcement Learning (GRL), a reinforcement learning algorithm that uses Monte Carlo Tree Search (MCTS) and a transformer architecture that models a Pushdown Automaton (PDA) within a context-free grammar (CFG)…

Reinforcement Learning (RL) methods are typically applied directly in environments to learn policies. In some complex environments with continuous state-action spaces, sparse rewards, and/or long temporal horizons, learning a good policy in…

World models aim to capture the dynamics of the environment, enabling agents to predict and plan for future states. In most scenarios of interest, the dynamics are highly centered on interactions among objects within the environment. This…

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…

Inspired by recent successes of Monte-Carlo tree search (MCTS) in a number of artificial intelligence (AI) application domains, we propose a model-based reinforcement learning (RL) technique that iteratively applies MCTS on batches of…

Leveraging the rich world knowledge of Large Language Models (LLMs) to enhance Reinforcement Learning (RL) agents offers a promising path toward general intelligence. However, a fundamental prior-dynamics mismatch hinders existing…

ObjectRL is an open-source Python codebase for deep reinforcement learning (RL), designed for research-oriented prototyping with minimal programming effort. Unlike existing codebases, ObjectRL is built on Object-Oriented Programming (OOP)…

Pretraining reinforcement learning (RL) models on offline datasets is a promising way to improve their training efficiency in online tasks, but challenging due to the inherent mismatch in dynamics and behaviors across various tasks. We…

Model-based reinforcement learning (RL) has shown great potential in various control tasks in terms of both sample-efficiency and final performance. However, learning a generalizable dynamics model robust to changes in dynamics remains a…

Although data generation is often straightforward, extracting information from data is more difficult. Object-centric representation learning can extract information from images in an unsupervised manner. It does so by segmenting an image…

Contrastive self-supervised learning has largely narrowed the gap to supervised pre-training on ImageNet. However, its success highly relies on the object-centric priors of ImageNet, i.e., different augmented views of the same image…

State of the art methods for robotic path planning in dynamic environments, such as crowds or traffic, rely on hand crafted motion models for agents. These models often do not reflect interactions of agents in real world scenarios. To…

Understanding the world in terms of objects and the possible interplays with them is an important cognition ability, especially in robotics manipulation, where many tasks require robot-object interactions. However, learning such a…

In this paper, we present LOC-ZSON, a novel Language-driven Object-Centric image representation for object navigation task within complex scenes. We propose an object-centric image representation and corresponding losses for visual-language…