相关论文: In-Context Planning with Latent Temporal Abstracti…

Humans and animals show remarkable learning efficiency, adapting to new environments with minimal experience. This capability is not well captured by standard reinforcement learning algorithms that rely on incremental value updates. Rapid…

The improved competence of generative models can help building multi-modal virtual assistants that leverage modalities beyond language. By observing humans performing multi-step tasks, one can build assistants that have situational…

Anomaly detection plays a critical role in Autonomous Vehicles (AVs) by identifying unusual behaviors through perception systems that could compromise safety and lead to hazardous situations. Current approaches, which often rely on…

In this paper, we develop a framework for path-planning on abstractions that are not provided to the agent a priori but instead emerge as a function of the available computational resources. We show how a path-planning problem in an…

Recent work analyzing in-context learning (ICL) has identified a broad set of strategies that describe model behavior in different experimental conditions. We aim to unify these findings by asking why a model learns these disparate…

Neural processes (NPs) are a powerful family of meta-learning models that seek to approximate the posterior predictive map of the ground-truth stochastic process from which each dataset in a meta-dataset is sampled. There are many cases in…

We present Planning as Descent (PaD), a framework for offline goal-conditioned reinforcement learning that grounds trajectory synthesis in verification. Instead of learning a policy or explicit planner, PaD learns a goal-conditioned energy…

Partially annotated clips contain rich temporal contexts that can complement the sparse key frame annotations in providing supervision for model training. We present a novel paradigm called Temporally-Adaptive Features (TAF) learning that…

Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states and transitions, which typically need to be designed by hand.…

In domains such as healthcare, finance, and e-commerce, the temporal dynamics of relational data emerge from complex interactions-such as those between patients and providers, or users and products across diverse categories. To be broadly…

With the increasing ability of large language models (LLMs), in-context learning (ICL) has evolved as a new paradigm for natural language processing (NLP), where instead of fine-tuning the parameters of an LLM specific to a downstream task…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…

In this study, we address the challenge of learning generalizable policies for compositional tasks defined by logical specifications. These tasks consist of multiple temporally extended sub-tasks. Due to the sub-task inter-dependencies and…

The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future…

Effectively tackling the problem of temporal action localization (TAL) necessitates a visual representation that jointly pursues two confounding goals, i.e., fine-grained discrimination for temporal localization and sufficient visual…

Trajectory planning in robotics aims to generate collision-free pose sequences that can be reliably executed. Recently, vision-to-planning systems have gained increasing attention for their efficiency and ability to interpret and adapt to…

Despite recent progress in reinforcement learning (RL) from raw pixel data, sample inefficiency continues to present a substantial obstacle. Prior works have attempted to address this challenge by creating self-supervised auxiliary tasks,…

Recent developments in the field of model-based RL have proven successful in a range of environments, especially ones where planning is essential. However, such successes have been limited to deterministic fully-observed environments. We…

Embodied navigation methods commonly operate in static environments with stationary objects. In this work, we present approaches for tackling navigation in dynamic scenarios with non-stationary targets. In an indoor environment, we assume…

Procedure Planning in instructional videos entails generating a sequence of action steps based on visual observations of the initial and target states. Despite the rapid progress in this task, there remain several critical challenges to be…