# Why AI systems don't learn and what to do about it: Lessons on autonomous learning from cognitive science

arXiv: https://arxiv.org/abs/2603.15381 · HTML: https://mlsanity.com/paper/2603.15381/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- Builds on 102 of its 273 references that are in the map.
- First posted on arXiv 16 Mar 2026.

## Builds on (most cited first, 30 of 102)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks](https://mlsanity.com/paper/1703.03400/) (2017)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [HuBERT: Self-Supervised Speech Representation Learning by Masked Prediction of Hidden Units](https://mlsanity.com/paper/2106.07447/) (2021)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Scaling LLM Test-Time Compute Optimally can be More Effective than Scaling Model Parameters](https://mlsanity.com/paper/2408.03314/) (2024)
- [Shortcut Learning in Deep Neural Networks](https://mlsanity.com/paper/2004.07780/) (2020)
- [Dream to Control: Learning Behaviors by Latent Imagination](https://mlsanity.com/paper/1912.01603/) (2019)
- [Concrete Problems in AI Safety](https://mlsanity.com/paper/1606.06565/) (2016)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [World Models](https://mlsanity.com/paper/1803.10122/) (2018)
- [Neural Architecture Search with Reinforcement Learning](https://mlsanity.com/paper/1611.01578/) (2016)
- [WILDS: A Benchmark of in-the-Wild Distribution Shifts](https://mlsanity.com/paper/2012.07421/) (2020)
- [Mastering Atari, Go, Chess and Shogi by Planning with a Learned Model](https://mlsanity.com/paper/1911.08265/) (2019)
- [Learning Latent Dynamics for Planning from Pixels](https://mlsanity.com/paper/1811.04551/) (2018)
- [Mastering Diverse Domains through World Models](https://mlsanity.com/paper/2301.04104/) (2023)
- [Curiosity-driven Exploration by Self-supervised Prediction](https://mlsanity.com/paper/1705.05363/) (2017)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Prioritized Experience Replay](https://mlsanity.com/paper/1511.05952/) (2015)

## Built on by (most cited first, 11 of 11)

- [Is Forward Prediction Enough? Physical State Grounding for JEPA World Models](https://mlsanity.com/paper/2608.06799/) (2026)
- [Springdrift: An Auditable Persistent Runtime for LLM Agents with Case-Based Memory, Normative Safety, and Ambient Self-Perception](https://mlsanity.com/paper/2604.04660/) (2026)
- [Active Inference for Physical AI Agents -- An Engineering Perspective](https://mlsanity.com/paper/2603.20927/) (2026)
- [Deep Research of Deep Research: From Transformer to Agent, From AI to AI for Science](https://mlsanity.com/paper/2603.28361/) (2026)
- [The Evaluation Trap: Benchmark Design as Theoretical Commitment](https://mlsanity.com/paper/2605.14167/) (2026)
- [EVA-0: Test-Time Model Evolution with Only Two Forward Passes per Sample](https://mlsanity.com/paper/2605.18867/) (2026)
- [Teaching a Minimalist Machine to Discover Recursive Programs for Arithmetic](https://mlsanity.com/paper/2610.06304/) (2026)
- [TFGN: Task-Free, Replay-Free Continual Pre-Training Without Catastrophic Forgetting at LLM Scale](https://mlsanity.com/paper/2605.15053/) (2026)
- [Biological Motifs for Agentic Control](https://mlsanity.com/paper/2607.04240/) (2026)
- [From Static Policies to Adaptive Priors in Offline Reinforcement Learning](https://mlsanity.com/paper/2609.35880/) (2026)
- [Geometric Parrots: Rule Absence vs. Rule Fragility in Spatial and Physical Reasoning for Vision-Language Models](https://mlsanity.com/paper/2610.16170/) (2026)

## Abstract (arXiv)

We critically examine the limitations of current AI models in achieving autonomous learning and propose a learning architecture inspired by human and animal cognition. The proposed framework integrates learning from observation (System A) and learning from active behavior (System B) while flexibly switching between these learning modes as a function of internally generated meta-control signals (System M). We discuss how this could be built by taking inspiration on how organisms adapt to real-world, dynamic environments across evolutionary and developmental timescales.