{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/efficient-policy-adaptation-with-contrastive-1","title":"Efficient Policy Adaptation with Contrastive Prompt Ensemble for Embodied Agents","arxiv_id":"2412.11484","date":"2024-12-16","proceeding":"NeurIPS 2023 11","authors":["Wonje Choi","Woo Kyung Kim","SeungHyun Kim","Honguk Woo"],"abstract":"For embodied reinforcement learning (RL) agents interacting with the environment, it is desirable to have rapid policy adaptation to unseen visual observations, but achieving zero-shot adaptation capability is considered as a challenging problem in the RL context. To address the problem, we present a novel contrastive prompt ensemble (ConPE) framework which utilizes a pretrained vision-language model and a set of visual prompts, thus enabling efficient policy learning and adaptation upon a wide range of environmental and physical changes encountered by embodied agents. Specifically, we devise a guided-attention-based ensemble approach with multiple visual prompts on the vision-language model to construct robust state representations. Each prompt is contrastively learned in terms of an individual domain factor that significantly affects the agent's egocentric perception and observation. For a given task, the attention-based ensemble and policy are jointly learned so that the resulting state representations not only generalize to various domains but are also optimized for learning the task. Through experiments, we show that ConPE outperforms other state-of-the-art algorithms for several embodied agent tasks including navigation in AI2THOR, manipulation in egocentric-Metaworld, and autonomous driving in CARLA, while also improving the sample efficiency of policy learning and adaptation.","url_abs":"https://arxiv.org/abs/2412.11484v1","url_pdf":"https://arxiv.org/pdf/2412.11484v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"language-modeling","task_name":"Language Modeling"},{"task_slug":"language-modelling","task_name":"Language Modelling"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"}],"methods":[{"method_slug":"carla","method_name":"CARLA"},{"method_slug":"entropy-regularization","method_name":"Entropy Regularization"},{"method_slug":"ppo","method_name":"PPO"},{"method_slug":"set","method_name":"SET"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2412.11484","atlas_url":"https://app.syntology.ai/?focus=2412.11484","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2412.11484"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"deterministic:regex_extraction","url":"https://github.com/KarlXing/LUSR","reach":null}],"summary":{"ran":1},"by_repo_kind":{"found_in_text":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":1,"samples":[{"code_sha256_prefix":"d9078c8b1d54a8bb","entry":"CarlaLatentPolicy","repo":"KarlXing/LUSR","repo_kind":"found_in_text","path":"model.py","file_url":"https://github.com/KarlXing/LUSR/blob/HEAD/model.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"d9078c8b1d54a8bb"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}