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

The capacity of an embodied agent to understand, predict, and interact with its environment is fundamentally contingent on an internal world model. This paper introduces a novel framework for investigating the formation and adaptation of…

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…

Partially observable Markov decision processes (POMDPs) are a general framework for sequential decision-making under latent state uncertainty, yet learning in POMDPs is intractable in the worst case. Motivated by sensing and probing…

Much of reinforcement learning theory is built on top of oracles that are computationally hard to implement. Specifically for learning near-optimal policies in Partially Observable Markov Decision Processes (POMDPs), existing algorithms…

Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…

Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude…

In the real world, planning is often challenged by distribution shifts. As such, a model of the environment obtained under one set of conditions may no longer remain valid as the distribution of states or the environment dynamics change,…

Enabling robots to perform novel manipulation tasks from natural language instructions remains a fundamental challenge in robotics, despite significant progress in generalized problem solving with foundational models. Large vision and…

We introduce Language Feedback Models (LFMs) that identify desirable behaviour - actions that help achieve tasks specified in the instruction - for imitation learning in instruction following. To train LFMs, we obtain feedback from Large…

In this article we propose a qualitative (ordinal) counterpart for the Partially Observable Markov Decision Processes model (POMDP) in which the uncertainty, as well as the preferences of the agent, are modeled by possibility distributions.…

Multi-environment POMDPs (ME-POMDPs) extend standard POMDPs with discrete model uncertainty. ME-POMDPs represent a finite set of POMDPs that share the same state, action, and observation spaces, but may arbitrarily vary in their transition,…

The intent of this research is to generate a set of non-dominated policies from which one of two agents (the leader) can select a most preferred policy to control a dynamic system that is also affected by the control decisions of the other…

Partially Observable Markov Decision Processes (POMDPs) are rich environments often used in machine learning. But the issue of information and causal structures in POMDPs has been relatively little studied. This paper presents the concepts…

Language model (LM) pre-training is useful in many language processing tasks. But can pre-trained LMs be further leveraged for more general machine learning problems? We propose an approach for using LMs to scaffold learning and…

We study reinforcement learning for partially observed Markov decision processes (POMDPs) with infinite observation and state spaces, which remains less investigated theoretically. To this end, we make the first attempt at bridging partial…

Sequential decision-making algorithms such as reinforcement learning (RL) in real-world scenarios inevitably face environments with partial observability. This paper scrutinizes the effectiveness of a popular architecture, namely…

Attention-based architectures trained on internet-scale language data have demonstrated state of the art reasoning ability for various language-based tasks, such as logic problems and textual reasoning. Additionally, these Large Language…

In this study I proposed a filtering beliefs method for improving performance of Partially Observable Markov Decision Processes(POMDPs), which is a method wildly used in autonomous robot and many other domains concerning control policy. My…

Designing robotic agents to perform open vocabulary tasks has been the long-standing goal in robotics and AI. Recently, Large Language Models (LLMs) have achieved impressive results in creating robotic agents for performing open vocabulary…

In the expeditionary sciences, spatiotemporally varying environments -- hydrothermal plumes, algal blooms, lava flows, or animal migrations -- are ubiquitous. Mobile robots are uniquely well-suited to study these dynamic, mesoscale natural…