Related papers: PEARL: PrEference Appraisal Reinforcement Learning…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…

Reinforcement Learning with Verifiable Rewards (RLVR) has significantly advanced the reasoning capabilities of Large Language Models (LLMs) and is now being applied to Vision-Language Models (VLMs). However, vanilla RLVR for VLMs verifies…

This paper introduces a physics enhanced residual learning (PERL) framework for connected and automated vehicle (CAV) platoon control, addressing the dynamics and unpredictability inherent to platoon systems. The framework first develops a…

Robotic bin packing is widely deployed in warehouse automation, with current systems achieving robust performance through heuristic and learning-based strategies. These systems must balance compact placement with rapid execution, where…

Autonomous mobile robots deployed in outdoor environments must reason about different types of terrain for both safety (e.g., prefer dirt over mud) and deployer preferences (e.g., prefer dirt path over flower beds). Most existing solutions…

In reinforcement learning from human feedback, preference-based reward models play a central role in aligning large language models to human-aligned behavior. However, recent studies show that these models are prone to reward hacking and…

To integrate into human-centered environments, autonomous agents must learn from and adapt to humans in their native settings. Preference-based reinforcement learning (PbRL) can enable this by learning reward functions from human…

Reinforcement learning (RL) involves sequential decision making in uncertain environments. The aim of the decision-making agent is to maximize the benefit of acting in its environment over an extended period of time. Finding an optimal…

The complexity of designing reward functions has been a major obstacle to the wide application of deep reinforcement learning (RL) techniques. Describing an agent's desired behaviors and properties can be difficult, even for experts. A new…

Many sequential decision-making tasks involve optimizing multiple conflicting objectives, requiring policies that adapt to different user preferences. In multi-objective reinforcement learning (MORL), one widely studied approach} addresses…

Preference-based reinforcement learning (PBRL) offers a promising alternative to explicit reward engineering by learning from pairwise trajectory comparisons. However, real-world preference data often comes from heterogeneous annotators…

Navigating urban intersections, especially when interacting with heterogeneous traffic participants, presents a formidable challenge for autonomous vehicles (AVs). In such environments, safety risks arise simultaneously from multiple…

Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…

For AI systems to be useful to humans, they must understand and act in accordance with our values and preferences. Since specifying preferences is a hard task, inverse reinforcement learning (IRL) aims to develop methods that allow for…

Deep Reinforcement Learning (DRL) has achieved great success in solving complicated decision-making problems. Despite the successes, DRL is frequently criticized for many reasons, e.g., data inefficient, inflexible and intractable reward…

Autonomous mobility tasks such as lastmile delivery require reasoning about operator indicated preferences over terrains on which the robot should navigate to ensure both robot safety and mission success. However, coping with out of…

Inverse reinforcement learning (IRL) enables an agent to learn complex behavior by observing demonstrations from a (near-)optimal policy. The typical assumption is that the learner's goal is to match the teacher's demonstrated behavior. In…

Home robots performing personalized tasks must adeptly balance user preferences with environmental affordances. We focus on organization tasks within constrained spaces, such as arranging items into a refrigerator, where preferences for…

Multi-objective reinforcement learning (MORL) excels at handling rapidly changing preferences in tasks that involve multiple criteria, even for unseen preferences. However, previous dominating MORL methods typically generate a fixed policy…