相关论文: Active World-Model with 4D-informed Retrieval for …

Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locating a person in distress. However the true information gained…

World models serve as essential building blocks toward Artificial General Intelligence (AGI), enabling intelligent agents to predict future states and plan actions by simulating complex physical interactions. However, existing interactive…

Active visual exploration addresses the issue of limited sensor capabilities in real-world scenarios, where successive observations are actively chosen based on the environment. To tackle this problem, we introduce a new technique called…

In this work we consider partially observable environments with sparse rewards. We present a self-supervised representation learning method for image-based observations, which arranges embeddings respecting temporal distance of…

Reinforcement learning (RL) has garnered significant attention for developing decision-making agents that aim to maximize rewards, specified by an external supervisor, within fully observable environments. However, many real-world problems…

Planning with partial observation is a central challenge in embodied AI. A majority of prior works have tackled this challenge by developing agents that physically explore their environment to update their beliefs about the world state. In…

Autonomous agents operating in dynamic and safety-critical environments require decision-making frameworks that are both computationally efficient and physically grounded. However, many existing approaches rely on end-to-end learning, which…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in the last decades. One of the central challenges of manipulation is partial observability, as the agent usually does…

Many real-world situations allow for the acquisition of additional relevant information when making decisions with limited or uncertain data. However, traditional RL approaches either require all features to be acquired beforehand (e.g. in…

Human decision-making heavily relies on active sensing, a well-documented cognitive behaviour for evidence gathering to accommodate ever-changing environments. However, its operational mechanism in the real world remains non-trivial.…

Active visual exploration aims to assist an agent with a limited field of view to understand its environment based on partial observations made by choosing the best viewing directions in the scene. Recent methods have tried to address this…

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…

In model-based reinforcement learning, generative and temporal models of environments can be leveraged to boost agent performance, either by tuning the agent's representations during training or via use as part of an explicit planning…

A robot's instantaneous sensory observations do not always reveal task-relevant state information. Under such partial observability, optimal behavior typically involves explicitly acting to gain the missing information. Today's standard…

Solving real-life sequential decision making problems under partial observability involves an exploration-exploitation problem. To be successful, an agent needs to efficiently gather valuable information about the state of the world for…

To assist humans in open-world environments, robots must interpret ambiguous instructions to locate desired objects. Foundation model-based approaches excel at multimodal grounding, but they lack a principled mechanism for modeling…

In autonomous robot exploration tasks, a mobile robot needs to actively explore and map an unknown environment as fast as possible. Since the environment is being revealed during exploration, the robot needs to frequently re-plan its path…

Humans perceive and reason about their surroundings in four dimensions by building persistent, structured internal representations that encode semantic meaning, spatial layout, and temporal dynamics. These multimodal memories enable them to…

Active inference, a neurally-inspired model for inferring actions based on the free energy principle (FEP), has been proposed as a unifying framework for understanding perception, action, and learning in the brain. Active inference has…

Assessing the systemic effects of uncertainty that arises from agents' partial observation of the true states of the world is critical for understanding a wide range of scenarios. Yet, previous modeling work on agent learning and…