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Learned optimizers are powerful alternatives to hand-designed update rules like Adam, yet they have seen limited practical adoption since they often fail to meta-generalize beyond their training distribution and incur high meta-training…

The choices of hyperparameters have critical effects on the performance of machine learning models. In this paper, we present a general framework that is able to construct an adaptive optimizer, which automatically adjust the appropriate…

Deep reinforcement learning has enabled robots to learn motor skills from environmental interactions with minimal to no prior knowledge. However, existing reinforcement learning algorithms assume an episodic setting, in which the agent…

Learning to learn (L2L) trains a meta-learner to assist the learning of a task-specific base learner. Previously, it was shown that a meta-learner could learn the direct rules to update learner parameters; and that the learnt neural…

Recent advancements in explainable recommendation have greatly bolstered user experience by elucidating the decision-making rationale. However, the existing methods actually fail to provide effective feedback signals for potentially better…

Algorithms are used to aid human decision makers by making predictions and recommending decisions. Currently, these algorithms are trained to optimize prediction accuracy. What if they were optimized to control final decisions? In this…

Meta-learning is a branch of machine learning which trains neural network models to synthesize a wide variety of data in order to rapidly solve new problems. In process control, many systems have similar and well-understood dynamics, which…

The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…

Trajectory optimization using a learned model of the environment is one of the core elements of model-based reinforcement learning. This procedure often suffers from exploiting inaccuracies of the learned model. We propose to regularize…

AI agents designed to collaborate with people benefit from models that enable them to anticipate human behavior. However, realistic models tend to require vast amounts of human data, which is often hard to collect. A good prior or…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

Reinforcement Learning algorithms that learn from human feedback (RLHF) need to be efficient in terms of statistical complexity, computational complexity, and query complexity. In this work, we consider the RLHF setting where the feedback…

Sequentially solving similar optimization problems under strict runtime constraints is essential for many applications, such as robot control, autonomous driving, and portfolio management. The performance of local optimization methods in…

Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…

First-order stochastic optimization methods are currently the most widely used class of methods for training deep neural networks. However, the choice of the optimizer has become an ad-hoc rule that can significantly affect the performance.…

Reinforcement learning from human feedback (RLHF) can improve the quality of large language model's (LLM) outputs by aligning them with human preferences. We propose a simple algorithm for aligning LLMs with human preferences inspired by…

This paper extends recent work in interactive machine learning (IML) focused on effectively incorporating human feedback. We show how control and feedback signals complement each other in systems which model human reward. We demonstrate…

Compared to humans, machine learning models generally require significantly more training examples and fail to extrapolate from experience to solve previously unseen challenges. To help close this performance gap, we augment single-task…

Large language models (LLMs) have shown significant potential for robotics applications, particularly task planning, by harnessing their language comprehension and text generation capabilities. However, in applications such as household…

As LLMs become more widely deployed, there is increasing interest in directly optimizing for feedback from end users (e.g. thumbs up) in addition to feedback from paid annotators. However, training to maximize human feedback creates a…