GARIM theory explains how conscious manipulation of internal representations enhances goal-directed behavior.
problem Limited understanding of how consciousness supports flexible goal-directed cognition.
method Extending a three-component theory of flexible cognition, proposing GARIM theory.
result Conscious states actively manipulate internal representations to align with goals, enhancing flexibility.
Paper proposes Imitative Models combining IL and planning for flexible goal achievement.
problem Difficult to direct IL to arbitrary goals and specify reward functions for goal-directed planning.
method Imitative Models are probabilistic predictive models that plan interpretable expert-like trajectories.
result Imitative Models outperform IL and planning approaches in a dynamic autonomous driving task.
Improves RL planning by proposing sub-goals hierarchically.
problem Sequential planning assumption in RL.
method Divide-and-Conquer Monte Carlo Tree Search (DC-MCTS).
result Improves navigation and control tasks.
New method learns optimal environment and goal difficulty for reinforcement learning.
problem Lack of robust transfer in reinforcement learning.
method Self-Supervised Active Domain Randomization (SS-ADR).
result Optimal domain randomization strategy improves transfer in goal-directed tasks.
A novel approach learns goal-conditioned policies for locomotion using batch RL.
problem Training goal-conditioned policies for rotation invariant locomotion.
method Data augmentation and Siamese framework for invariance.
result Our approach outperforms existing RL algorithms on 3D locomotion agents.
Agent learns causal relationships from visual data to perform tasks.
problem Performing tasks in novel environments with latent causal structures.
method Learning-based approach to induce causal graphs from visual observations, using attention mechanisms.
result Effective generalization to new tasks with unseen causal structures.
Agents need world models to generalize multi-step tasks.
problem The necessity of world models for flexible, goal-directed behavior.
method Formal analysis and demonstration of the necessity of world models for agents to generalize multi-step tasks.
result World models are necessary for agents to generalize to multi-step goal-directed tasks.
Study maps interdependence of SDGs, finds complex, dynamic linkages.
problem Identify which SDGs promote progress and how quickly.
method Used a balanced panel of 114 countries from 2000 to 2024, applying two estimators to recover directed interaction network and measure dynamic linkages.
result 84 goal linkages survive false-discovery control, showing both synergies and trade-offs, with no single goal acting as a universal accelerator.
Directed exploration improves reinforcement learning efficiency and robustness.
problem Achieving good sample efficiency in reinforcement learning with efficient exploration.
method Directed exploration through goal-conditioned policies that are independent of uncertainty.
result Directed exploration is more efficient and robust to uncertainty than reward bonuses.
Sparse reward problems are one of the biggest challenges in Reinforcement Learning. Goal-directed tasks are one such sparse reward problems where a reward signal is received only when the goal is reached. One promising way to train an agent to perform goal-directed tasks is to use Hindsight Learning approaches. In thes…
A new trajectory representation method for AI problems.
problem Trajectory prediction and optimization in AI problems.
method Sub-goal trees, recursively partitioning trajectories into sub-segments.
result Sub-goal trees predict trajectories faster and more accurately.
A key challenge in complex visuomotor control is learning abstract representations that are effective for specifying goals, planning, and generalization. To this end, we introduce universal planning networks (UPN). UPNs embed differentiable planning within a goal-directed policy. This planning computation unrolls a for…
New RL approach infers optimal policies via variational inference.
problem Manual design of reward functions for reinforcement learning.
method Variational inference for inferring policies achieving desired outcomes.
result Eliminates need for hand-crafted reward functions for diverse tasks.
GoBOED optimizes experiments for specific decision-making objectives, improving downstream outcomes.
problem Reducing parameter uncertainty does not always improve decision-making in critical settings.
method Combines variational posterior surrogate and differentiable convex decision layer for gradient-based design optimization.
result GoBOED identifies designs that better align with specific decision objectives and reveals wider optimal design windows.
OptiGAN uses GAN and RL to optimize sequence generation for specific goals.
problem Challenging in sequence generation tasks to generate sequences with specific desired goals.
method Integrates GAN and RL to optimize desired goal scores using policy gradients.
result Achieves higher desired scores in text and real-valued sequence generation.
Model learns sub-goals and low-level policies for hierarchical reinforcement learning.
problem Determining appropriate low-level policies in hierarchical reinforcement learning.
method Unsupervised learning scheme based on asymmetric self-play.
result Obtains performance gains over non-hierarchical approaches.
New approach decouples skill learning and language grounding for autonomous agents.
problem Autonomous acquisition of skills without external instructions and feedback.
method Language-Goal-Behavior (LGB) architecture with semantic representation.
result Decouples skill learning and language grounding, enabling diversity and strategy switching.
A variety of cooperative multi-agent control problems require agents to achieve individual goals while contributing to collective success. This multi-goal multi-agent setting poses difficulties for recent algorithms, which primarily target settings with a single global reward, due to two new challenges: efficient explo…
Paper tackles goal-directed generation of discrete structures using conditional generative models.
problem Challenges in generating structured discrete data, especially for problems like program synthesis and materials design.
method Investigates conditional generative models to directly model the distribution of discrete structures given properties of interest. Introduces a novel approach to optimize a reinforcement learning objective.
result Improvements over maximum likelihood estimation and other baselines in generating molecules and identifying short python expressions.
Generating novel graph structures that optimize given objectives while obeying some given underlying rules is fundamental for chemistry, biology and social science research. This is especially important in the task of molecular graph generation, whose goal is to discover novel molecules with desired properties such as …
RNNs trained on head direction task mimic brain's compass and shifter neurons.
problem Modeling brain's head direction system using neural networks.
method Optimized recurrent neural networks trained on angular velocity integration.
result RNNs naturally emerge with compass and shifter neuron-like properties.
All-goals updating exploits the off-policy nature of Q-learning to update all possible goals an agent could have from each transition in the world, and was introduced into Reinforcement Learning (RL) by Kaelbling (1993). In prior work this was mostly explored in small-state RL problems that allowed tabular representati…
Consider mutli-goal tasks that involve static environments and dynamic goals. Examples of such tasks, such as goal-directed navigation and pick-and-place in robotics, abound. Two types of Reinforcement Learning (RL) algorithms are used for such tasks: model-free or model-based. Each of these approaches has limitations.…
GOALS improves learning rate selection for dynamic MBSS in deep learning.
problem Challenges in selecting learning rates for dynamic MBSS in deep learning.
method Gradient-only approximation line search (GOALS) for dynamic MBSS loss functions.
result GOALS reduces model errors in multimodal cases.
New method predicts vehicle trajectories using map lane centers.
problem Accurate long-term vehicle trajectory prediction.
method Uses map lane centers to generate goal paths and predict trajectories.
result Model outperforms state-of-the-art approaches for 6-second horizon predictions.
Chance-constrained ActInf allows for small violations of constraints to drive goal-directed behavior.
problem Goal-directed behavior constrained by prior beliefs.
method Introducing chance constraints to ActInf, allowing for small violations of constraints.
result Chance-constrained ActInf allows for a trade-off between robust control and chance constraint violation.
Efficient algorithms learn causal graphs with minimal interventions.
problem Learning causal relationships between observed variables in the presence of latents.
method Bi-criteria approximation goal combining intervention design and graph property testing.
result Achieve intervention cost within a small constant factor of the optimal.
Unified algorithm for efficient pure exploration using dual variables.
problem Efficiently achieving a specific goal through adaptive experimentation.
method Introducing dual variables to derive optimal allocation conditions, leading to Information-Directed Selection.
result Top-two Thompson sampling attains asymptotic optimality for Gaussian best-arm identification.
Hybrid approach improves reinforcement learning efficiency.
problem Improving sample efficiency in reinforcement learning.
method Approximate model from Model-Free RL, use Mean First Passage Times for reachability, design new algorithms.
result Hybrid approaches converge with fewer iterations and samples.
Paper proposes a method to make learned models focus on task-relevant information.
problem Mismatch between model objective and downstream task objective.
method Direct prediction towards task-relevant information, self-supervised.
result Model more effectively models relevant parts of the scene conditioned on the goal.
A primary goal in this paper is to study the question that asks when a real analytic submanifold M in Cn+1 bounds a real analytic (up to M) Levi-flat hypersurface M^ near p∈M such that M^ is foliated by a family of complex hypersurfaces moving along the normal direction of M at …
A game on diagrams switches crossing directions to achieve connectedness.
problem Achieving connectedness in diagrams through crossing switches.
method Players switch crossing directions on regions of a diagram to achieve connectedness.
result Connectedness can be achieved through strategic crossing switches.
The paper investigates Goodhart's law and its impact on goal alignment.
problem The adverse effects of optimizing a measure when it diverges from the true goal.
method Formal analysis of Goodhart's law, focusing on the tail distribution of discrepancies.
result Goodhart's law depends on the tail distribution of discrepancies between the true goal and the optimized measure.
Unified algorithm tackles various RL goals like reward-free and preference-based learning.
problem Unified approach to multiple RL learning goals.
method Decision-Estimation Coefficient (DEC) framework.
result Unified algorithm handles various learning goals with a single framework.
KEMP predicts long-term trajectories for autonomous driving using keyframes.
problem Predicting future trajectories of road agents for autonomous driving.
method Keyframe-based hierarchical end-to-end deep learning framework.
result Ranked 1st on Waymo Open Motion Dataset Leaderboard.
Learning goal-directed behavior in environments with sparse feedback is a major challenge for reinforcement learning algorithms. The primary difficulty arises due to insufficient exploration, resulting in an agent being unable to learn robust value functions. Intrinsically motivated agents can explore new behavior for …
Deep learning applies hierarchical layers of hidden variables to construct nonlinear high dimensional predictors. Our goal is to develop and train deep learning architectures for spatio-temporal modeling. Training a deep architecture is achieved by stochastic gradient descent (SGD) and drop-out (DO) for parameter regul…
A goal in network science is the geometrical characterization of complex networks. In this direction, we have recently introduced Forman's discretization of Ricci curvature to the realm of undirected networks. Investigation of this edge-centric network measure, Forman-Ricci curvature, in diverse model and real-world un…
Geometric proof of contractibility of unitary group in strong topology.
problem Contractibility of unitary group in strong operator topology.
method Direct geometric proof and construction of special subspaces and operators.
result Direct geometric proof of contractibility theorem.
This paper establishes the existence of observable footprints that reveal the "causal dispositions" of the object categories appearing in collections of images. We achieve this goal in two steps. First, we take a learning approach to observational causal discovery, and build a classifier that achieves state-of-the-art …
This paper uses probability tensors for efficient path planning in complex scenarios.
problem Efficient path planning in complex environments with obstacles and multiple goals.
method Probability tensors are used to model agent motion and decision-making, incorporating past and future information.
result The model finds solutions in complex scenarios, demonstrating realistic emergent behaviors.
The essay discusses Margulis' theorems and their implications.
problem Understanding the implications of Margulis' theorems.
method Historical review and discussion of open questions.
result Discussion of open questions stemming from Margulis' work.
The paper presents an algorithm to determine discreteness of certain groups.
problem Determining discreteness of specific groups generated by parabolic transformations.
method Algorithmic approach based on historical mathematical paradigms.
result Equivalence of different approaches to the discreteness problem.
Improves sparse reinforcement learning efficiency with OYMB.
problem Sparse rewards hinder reinforcement learning performance.
method Introduces OYMB, a sampler for HER to control minibatch makeup.
result HER combined with OYMB leads to faster real goal completion.
Exploration is a difficult challenge in reinforcement learning and even recent state-of-the art curiosity-based methods rely on the simple epsilon-greedy strategy to generate novelty. We argue that pure random walks do not succeed to properly expand the exploration area in most environments and propose to replace singl…
A new pruning method reduces neural network computation without retraining.
problem Efficiently reduce neural network computation while maintaining accuracy.
method Structured directional pruning via perturbation orthogonal projection.
result Achieves state-of-the-art pruned accuracy without retraining.
The enactive approach to cognition is typically proposed as a viable alternative to traditional cognitive science. Enactive cognition displaces the explanatory focus from the internal representations of the agent to the direct sensorimotor interaction with its environment. In this paper, we investigate enactive learnin…
The paper establishes lower bounds on Yang-Mills functionals for fibrations.
problem Analyzing the stability and nefness of direct image sheaves in fibrations.
method Generalizing mean curvature and Harder-Narasimhan filtrations to arbitrary polarized fibrations.
result Optimal lower bounds on fibered Yang-Mills functionals in terms of direct image sheaves.