8 citations · 16 across the 7 of their papers we have counts for
5 papers · 1 filter
Next-Latent Prediction Transformers Learn Compact World Models
Jayden Teoh, Manan Tomar, Kwangjun Ahn +7
Transformers replace recurrence with a memory that grows with sequence length and self-attention that enables ad-hoc lookups over past tokens. Consequently, they lack an inherent i…
The Belief State Transformer
Edward S. Hu, Kwangjun Ahn, Qinghua Liu +9
We introduce the "Belief State Transformer", a next-token predictor that takes both a prefix and suffix as inputs, with a novel objective of predicting both the next token for the…
Privileged Sensing Scaffolds Reinforcement Learning
Edward S. Hu, James Springer, Oleh Rybkin +1
We need to look at our shoelaces as we first learn to tie them but having mastered this skill, can do it from touch alone. We call this phenomenon "sensory scaffolding": observatio…
Planning Goals for Exploration
Edward S. Hu, Richard Chang, Oleh Rybkin +1
Dropped into an unknown environment, what should an agent do to quickly learn about the environment and how to accomplish diverse tasks within it? We address this question within t…
Training Robots to Evaluate Robots: Example-Based Interactive Reward Functions for Policy Learning
Kun Huang, Edward S. Hu, Dinesh Jayaraman
Physical interactions can often help reveal information that is not readily apparent. For example, we may tug at a table leg to evaluate whether it is built well, or turn a water b…