Modeling social conventions from real-time interactions and sensorimotor control.
problem The role of real-time control and learning in social convention formation.
method Control-based Reinforcement Learning (CRL) model grounded in Distributed Adaptive Control (DAC) theory.
result CRL model achieves human-level performance in multi-agent game-theoretic tasks.
SMT improves robotic long-horizon tasks by embedding and utilizing past observations.
problem Long-horizon tasks in partially observable environments require effective long-term memory.
method Scene Memory Transformer (SMT) embeds and uses attention to exploit spatio-temporal dependencies.
result SMT outperforms existing policies in visual navigation tasks.
Study how actions affect perception in embodied agents using group theory.
problem Understanding how actions influence perception in autonomous agents.
method Mathematical formalism of group theory applied to sensory commutativity of action sequences.
result Introduced Sensory Commutativity Probability (SCP) to measure action effects on perception.
Low-dimensional vectors improve semantic understanding of music and language.
problem Noise in shared semantics due to individual brain biases.
method Jointly model multiple brains to learn low-dimensional vector embeddings.
result These embeddings outperform high-dimensional fMRI data in music and language classification.
Unified framework for imitating tasks across domains with discrepancies.
problem Learning tasks across domains with embodiment, viewpoint, and dynamics mismatches.
method Two-step approach: alignment followed by adaptation. Alignment uses Generative Adversarial MDP Alignment (GAMA) for state and action correspondences from unpaired, unaligned demonstrations. Adaptation leverages these correspondences for zero-shot imitation.
result Effectiveness of the proposed approach in embodiment, viewpoint, and dynamics mismatch scenarios.
Generative Multisensory Network learns 3D scene representations from multiple modalities.
problem Learning robust 3D scene representations from multiple sensory modalities.
method Amortized Product-of-Experts for efficient inference and cross-modal generation.
result The model can infer modality-invariant 3D scene representations efficiently from various sensory modalities.
Reinforcement learning for embodied agents is a challenging problem. The accumulated reward to be optimized is often a very rugged function, and gradient methods are impaired by many local optimizers. We demonstrate, in an experimental setting, that incorporating an intrinsic reward can smoothen the optimization landsc…
This paper proposes a new method to connect language and physical actions in reinforcement learning.
problem Connecting linguistic representations to the physical world in embodied agents.
method Language-conditioned goal generators to decouple sensorimotor learning from language acquisition.
result Agents can demonstrate a diversity of behaviors for any given instruction.
New metric solves correspondence problem for robotic arm imitation learning.
problem Establishing corresponding states and actions between different robotic arms.
method Introducing a distance measure between dissimilar robotic arms and using it as a loss function.
result The distance measure effectively learns imitation policies by minimizing distance between robotic arms.
EDGI improves sample efficiency and generalization in tasks with spatial and temporal symmetries.
problem Sample inefficiency and poor generalization in tasks with geometric symmetries.
method Equivariant Diffuser framework, SE(3)xZxSn-equivariant diffusion model.
result EDGI is more sample efficient and generalizes better than non-equivariant models.
Simple changes in neural activations can greatly affect task learning and switching.
problem How to learn and switch between new tasks quickly and flexibly.
method Investigated module architectures in an embodied two-dimensional touchscreen environment.
result Simple changes in neural activations significantly influence task learning and switching.
VALAN is a framework for navigation agents in photo-realistic environments.
problem Developing agents for indoor navigation tasks.
method Deep reinforcement learning with SEED RL architecture.
result VALAN framework can solve a variety of RL problems.
New approach categorizes objective functions for embodied agents.
problem Understanding how objectives relate to each other and discovering new objectives.
method Introducing Action Perception Divergence (APD) to categorize objective functions.
result Introduces a spectrum of objectives from narrow to general, explaining various unsupervised objectives.
We investigate how the choice of decision makers can be varied under the presence of risk and uncertainty. Our analysis is based on the approach we have previously applied to individual decision makers, which we now generalize to the case of decision makers that are members of a society. The approach employs the mathem…
Model learns multiple tasks using visual and textual representations.
problem Training visual navigation agents for multiple tasks.
method Dual-Attention unit for task-invariant alignment of visual and textual representations.
result Model outperforms baselines on semantic goal navigation and embodied question answering.
We study financial distributions within the framework of the continuous time random walk (CTRW). We review earlier approaches and present new results related to overnight effects as well as the generalization of the formalism which embodies a non-Markovian formulation of the CTRW aimed to account for correlated increme…
Paper proves Toponogov's theorem in Alexandrov geometry.
problem Proving Toponogov's theorem in Alexandrov geometry with lower curvature bound.
method Inspired by Riemannian geometry, uses second variation formula.
result Elementary proof of Toponogov's theorem in Alexandrov geometry.
New framework for AI to learn causal models through experience.
problem Lack of guidance for variable choice and interventions in causal models for AI.
method Defines actions as state space transformations, introduces causal variables, and identifies interventions.
result Clarifies the concept of interventions and makes causal representation learning clearer.
New framework uses OR to ensure AI systems make safe decisions.
problem Ensuring generative AI systems make safe decisions as they gain autonomy.
method Developed a conceptual framework combining flow-based models and adversarial robustness.
result Increased autonomy requires new OR approaches for feasibility, robustness, and stress testing.
We construct an elementary, combinatorial kind of topological quantum field theory, based on curves, surfaces, and orientations. The construction derives from contact invariants in sutured Floer homology and is essentially an elaboration of a TQFT defined by Honda--Kazez--Matic. This topological field theory stores inf…
Econophysics embodies the recent upsurge of interest by physicists into financial economics, driven by the availability of large amount of data, job shortage in physics and the possibility of applying many-body techniques developed in statistical and theoretical physics to the understanding of the self-organizing econo…
HRL4IN tackles interactive navigation tasks with mobile manipulators, improving efficiency and performance.
problem Interactive Navigation tasks require mobile manipulators to perform various actions, but choosing the right part of the embodiment is inefficient.
method HRL4IN uses a hierarchical reinforcement learning architecture to handle heterogeneous phases of navigation and manipulation, selecting the appropriate part of the embodiment for each phase.
result HRL4IN significantly outperforms flat PPO and HAC in terms of task performance and energy efficiency.
New text-to-image diffusion models improve scene understanding for AI agents.
problem Fine-grained scene understanding for AI agents from text and images.
method Pre-trained text-to-image diffusion models optimized for generating images from text prompts.
result Policies learned with Stable Control Representations outperform state-of-the-art approaches on various control tasks.
DIVA generates diverse tasks for complex simulators, enabling adaptive agent training.
problem Lack of diverse training data for complex, open-ended simulators.
method Evolutionary approach using domain randomization and procedural generation.
result Successfully trains adaptive agent behavior in complex simulators.
Crowdsourced predictions from microservices improve supply chain efficiency.
problem Improving supply chain efficiency through high-quality predictions.
method Trials of a multi-agent system with microservices and economic incentives.
result Empirical lessons suggest potential for a Prediction Web.
Robot learns from human actions to perform complex tasks.
problem Learning complex skills from interaction data with embodiment differences.
method Formulated graphical model, treated action as observed variable, used domain-dependent prior.
result Robotic planning agent can learn tool use from human observations.
Multiple Kernel Learning (MKL) is used to replicate the signal combination process that trading rules embody when they aggregate multiple sources of financial information when predicting an asset's price movements. A set of financially motivated kernels is constructed for the EURUSD currency pair and is used to predict…
Three perspectives on quantizing magnetic Poisson structures are explored.
problem Quantization of magnetic Poisson structures with non-associativity.
method Deformation quantization, symplectic realization, geometric quantization using bundle gerbes.
result Comparison and contrast of different quantization approaches.
Commissioned by MIT's in-house artist Jane Philbrick, we evolve an abstract 2D surface (resembling Marta Pan's 1961 "Sculpture Flottante I") under mean curvature, all the while calculating the eigenmodes and eigenvalues of the Laplace-Beltrami operator on the resulting shapes. These are then synthesized into a sound-wa…
Competition aims to develop sample-efficient RL methods using human demonstrations.
problem Exponential increase in samples needed for reinforcement learning.
method Develop sample-efficient algorithms using human demonstrations.
result Introduction of MineRL ObtainDiamond task and MineRL-v0 dataset.
We use the mapping cone for the relative deRham cohomology of a manifold with boundary in order to show that the Chern-Gauss-Bonnet Theorem for oriented Riemannian vector bundles over such manifolds is a manifestation of Lefschetz Duality in any of the two embodiments of the latter. We explain how Thom isomorphism fits…
Federated learning collaborates clients to train models without sharing data.
problem Privacy and data sharing in machine learning.
method Central server orchestrates collaborative training of models on decentralized data.
result Recent advances and open problems in FL.
Integral formulae for foliated Riemannian manifolds provide obstructions for existence of foliations or compact leaves of them with given geometric properties. Recently, we associated a new Riemannian metric to a codimension-one foliated Finsler space and proved integral formulae for general and for Randers spaces. In …
Improves AI agents' 3D navigation by learning from failures and 3D spatial relationships.
problem Challenges in data efficiency, obstacle avoidance, and generalization in 3D visual navigation.
method Incorporates attention on 3D spatial relationships and a target skill extension module into DRL framework.
result Significantly improves navigation performance and generalization across targets and scenes.
This review explores causal decision-making to improve decision quality.
problem Effective decision-making requires understanding causal relationships.
method Causal structure learning, causal effect learning, and causal policy learning.
result Challenges in causal decision-making are identified and recent advances are discussed.
Framework for robust decision making in changing environments with privacy constraints.
problem Interactive decision making in changing environments with constraints.
method Hybrid Decision Making with Structured Observations (hybrid DMSO) framework, local differentially private decision making, query-based learning, robust and smooth decision making.
result Strong connections and bounds derived for DEC, SQ dimension, local minimax complexity, learnability, and joint differential privacy.
We introduce a conceptually novel structured prediction model, GPstruct, which is kernelized, non-parametric and Bayesian, by design. We motivate the model with respect to existing approaches, among others, conditional random fields (CRFs), maximum margin Markov networks (M3N), and structured support vector machines (S…
Study minimax-optimal rates for offline decision-making with function approximation.
problem Statistical complexity of offline decision-making with function approximation.
method Near minimax-optimal rates for stochastic contextual bandits and Markov decision processes, using pseudo-dimension and behavior policy.
result Established performance limits and new characterization of behavior policy.
The paper tackles individualized decision-making under unmeasured confounding, providing a novel minimax solution and a paradox.
problem Unmeasured confounding in causal inference leads to biased estimates and affects individualized decision-making.
method The authors establish a formal link between individualized decision-making under partial identification and classical decision theory, providing a minimax solution and a paradox.
result A novel minimax solution for individualized decision-making/policy assignment is provided, and an interesting paradox is drawn.
A new approach to group fairness treats it as a bargaining problem.
problem Fairness in deploying predictors across subpopulations.
method Interpreting fairness as a bargaining problem and proposing relative improvement.
result Relative improvement provides axiomatic justification and finite-sample convergence guarantees.
In recent years, manifold learning has become increasingly popular as a tool for performing non-linear dimensionality reduction. This has led to the development of numerous algorithms of varying degrees of complexity that aim to recover man ifold geometry using either local or global features of the data. Building on t…
This paper develops a framework for efficient decision-making under time pressure.
problem Efficient decision-making under time pressure and subjective tradeoffs.
method Unified framework for evidence-based decision-making under time pressure.
result Ability to model and understand decision-making behavior under time constraints.
New active learning strategy improves decision-making accuracy.
problem Maximizing decision-making accuracy in sequential data acquisition.
method Introduces a novel active learning criterion that maximizes expected information gain on the posterior decision distribution.
result Improved performance in decision-making accuracy compared to existing alternatives.
New algorithms for fast online decision making using neural networks and martingale posteriors.
problem Online sequential decision making under uncertainty.
method Martingale posterior neural networks for fast online learning and decision making.
result Achieves competitive performance-speed trade-offs in non-stationary contextual bandits and Bayesian optimization.
Paper tackles risk-sensitive decision-making under uncertainty.
problem Risk-sensitive decision-making problem under uncertainty.
method Formulated as a stochastic control problem, delineated necessary optimality conditions.
result Illustrative examples from optimal betting and inventory management support the theory.
Machine learning attacks mimic cellular decision-making, revealing new defense mechanisms.
problem Adversarial perturbations fool machine learning models, similar to how ligands prevent correct signaling in cells.
method Formal analogy between neural networks and cellular decision-making models, applying machine learning techniques to study cellular processes.
result Found two regimes in cellular decision-making models, each with a critical point that shapes the loss landscape and defense mechanisms.
IRL models human risk decisions based on past outcomes.
problem Understanding human risk decisions under risk.
method Inverse Reinforcement Learning (IRL) with features reflecting state history.
result Human reward function explains risk-prone and risk-averse decisions.
A rational model explains why humans overestimate extreme events in decisions.
problem Human tendency to overestimate extreme outcomes in decisions.
method Formal metacognitive model based on resource availability.
result Empirical evidence confirms the model's predictions.