相关论文: Learning POMDP World Models from Observations with…

In many practical applications, decision-making processes must balance the costs of acquiring information with the benefits it provides. Traditional control systems often assume full observability, an unrealistic assumption when…

This work introduces a novel deep learning-based architecture, termed the Deep Belief Markov Model (DBMM), which provides efficient, model-formulation agnostic inference in Partially Observable Markov Decision Process (POMDP) problems. The…

Interactive partially observable Markov decision processes (I-POMDP) provide a formal framework for planning for a self-interested agent in multiagent settings. An agent operating in a multiagent environment must deliberate about the…

Transformer-based large language models (LLMs) have demonstrated strong reasoning abilities across diverse fields, from solving programming challenges to competing in strategy-intensive games such as chess. Prior work has shown that LLMs…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class 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…

This paper proposes an integration of temporal logical reasoning and Partially Observable Markov Decision Processes (POMDPs) to achieve interpretable decision-making under uncertainty with macro-actions. Our method leverages a fragment of…

Partially observable Markov decision processes (POMDPs) are a general mathematical model for sequential decision-making in stochastic environments under state uncertainty. POMDPs are often solved \textit{online}, which enables the algorithm…

The partially observable Markov decision process (POMDP) provides a principled general model for planning under uncertainty. However, solving a general POMDP is computationally intractable in the worst case. This paper introduces…

Assistive systems for persons with cognitive disabilities (e.g. dementia) are difficult to build due to the wide range of different approaches people can take to accomplishing the same task, and the significant uncertainties that arise from…

Prevailing large language models (LLMs) are capable of human responses simulation through its unprecedented content generation and reasoning abilities. However, it is not clear whether and how to leverage LLMs to simulate field experiments.…

Many processes, such as discrete event systems in engineering or population dynamics in biology, evolve in discrete space and continuous time. We consider the problem of optimal decision making in such discrete state and action space…

Robotic systems deployed in real-world environments often operate under conditions of partial and often intermittent observability, where sensor inputs may be noisy, occluded, or entirely unavailable due to failures or environmental…

Strategies for partially observable Markov decision processes (POMDP) typically require memory. One way to represent this memory is via automata. We present a method to learn an automaton representation of a strategy using a modification of…

Learning efficiently a causal model of the environment is a key challenge of model-based RL agents operating in POMDPs. We consider here a scenario where the learning agent has the ability to collect online experiences through direct…

As general purpose robots become more capable, pre-programming of all tasks at the factory will become less practical. We would like for non-technical human owners to be able to communicate, through interaction with their robot, the details…

Our goal is to enable robots to plan sequences of tabletop actions to push a block with unknown physical properties to a desired goal pose. We approach this problem by learning the constituent models of a Partially-Observable Markov…

Autonomous systems are often required to operate in partially observable environments. They must reliably execute a specified objective even with incomplete information about the state of the environment. We propose a methodology to…

World models have been widely utilized in robotics, gaming, and auto-driving. However, their applications on natural language tasks are relatively limited. In this paper, we construct the dialogue world model, which could predict the user's…