Most artificial neural networks used for object detection and recognition are trained in a fully supervised setup. This is not only very resource consuming as it requires large data sets of labeled examples but also very different from how humans learn. We introduce a setup in which an artificial agent first learns in a simulated world through self-supervised exploration. Following this, the representations learned through interaction with the world can be used to associate semantic concepts such as different types of doors. To do this, we use a method we call fast concept mapping which uses correlated firing patterns of neurons to define and detect semantic concepts. This association works instantaneous with very few labeled examples, similar to what we observe in humans in a phenomenon called fast mapping. Strikingly, this method already identifies objects with as little as one labeled example which highlights the quality of the encoding learned self-supervised through embodiment using curiosity-driven exploration. It therefor presents a feasible strategy for learning concepts without much supervision and shows that through pure interaction with the world meaningful representations of an environment can be learned.
Over the years various methods have been proposed for the problem of object detection. Recently, we have witnessed great strides in this domain owing to the emergence of powerful deep neural networks. However, there are typically two main assumptions common among these approaches. First, the model is trained on a fixed training set and is evaluated on a pre-recorded test set. Second, the model is kept frozen after the training phase, so no further updates are performed after the training is finished. These two assumptions limit the applicability of these methods to real-world settings. In this…
Building embodied autonomous agents capable of participating in social interactions with humans is one of the main challenges in AI. This problem motivated many research directions on embodied language use. Current approaches focus on language as a communication tool in very simplified and non diverse social situations: the "naturalness" of language is reduced to the concept of high vocabulary size and variability. In this paper, we argue that aiming towards human-level AI requires a broader set of key social skills: 1) language use in complex and variable social contexts; 2) beyond language, …
Building embodied autonomous agents capable of participating in social interactions with humans is one of the main challenges in AI. Within the Deep Reinforcement Learning (DRL) field, this objective motivated multiple works on embodied language use. However, current approaches focus on language as a communication tool in very simplified and non-diverse social situations: the "naturalness" of language is reduced to the concept of high vocabulary size and variability. In this paper, we argue that aiming towards human-level AI requires a broader set of key social skills: 1) language use in compl…
Georgia Institute of Technology（佐治亚理工学院）；Meta AI；Google Atlanta（谷歌亚特兰大）
We present Variable Experience Rollout (VER), a technique for efficiently scaling batched on-policy reinforcement learning in heterogenous environments (where different environments take vastly different times to generate rollouts) to many GPUs residing on, potentially, many machines. VER combines the strengths of and blurs the line between synchronous and asynchronous on-policy RL methods (SyncOnRL and AsyncOnRL, respectively). VER learns from on-policy experience (like SyncOnRL) and has no synchronization points (like AsyncOnRL). VER leads to significant and consistent speed-ups across a bro…
University of California, Riverside（加州大学河滨分校）；Mitsubishi Electric Research Labs（三菱电机研究实验室）
Recent years have seen embodied visual navigation advance in two distinct directions: (i) in equipping the AI agent to follow natural language instructions, and (ii) in making the navigable world multimodal, e.g., audio-visual navigation. However, the real world is not only multimodal, but also often complex, and thus in spite of these advances, agents still need to understand the uncertainty in their actions and seek instructions to navigate. To this end, we present AVLEN~ -- an interactive agent for Audio-Visual-Language Embodied Navigation. Similar to audio-visual navigation tasks, the goal…
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI
School of Computer Science and Engineering, Sun Yat-sen University（中山大学计算机科学与工程学院）；Sun Yat-sen University（中山大学）；Guangdong Key Laboratory of Big Data Analysis and Processing（广东大数据分析与处理重点实验室）；Peng Cheng Laboratory（鹏城实验室）；Institute of Digital Media, Peking University（北京大学数字媒体研究院）
Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to replicate some of these abilities with a neural network that implements curiosity-driven intrinsic motivation. Using a simple but ecologically naturalistic simulated environment in which the agent can move and interact with objects it sees, the agent learns a world model predicting the dynamic consequences of its actions. Simultaneously, the agent learns to take actions that adversarially challenge the developing world …
Compositional Abilities Emerge Multiplicatively: Exploring Diffusion Models on a Synthetic Task
Center for Brain Science, Harvard University（哈佛大学脑科学中心）；Physics & Informatics Laboratories, NTT Research, Inc.（NTT研究所物理与信息实验室）；EECS Department, University of Michigan（密歇根大学电子工程与计算机科学系）
Context and Diversity Matter: The Emergence of In-Context Learning in World Models
Shenzhen Institute of Artificial Intelligence and Robotics for Society（深圳人工智能与机器人社会研究院）；University of Science and Technology of China（中国科学技术大学）；Anhui Province Key Laboratory of Intelligent Low-Carbon Information Technology and Equipment（安徽省智能低碳信息技术与设备重点实验室）
