Related papers: A General, Evolution-Inspired Reward Function for …

Reward modeling is essential for aligning large language models with human preferences through reinforcement learning. To provide accurate reward signals, a reward model (RM) should stimulate deep thinking and conduct interpretable…

Improving sample efficiency is central to Reinforcement Learning (RL), especially in environments where the rewards are sparse. Some recent approaches have proposed to specify reward functions as manually designed or learned reward…

Multimodal Reward Models (MRMs) play a crucial role in enhancing the performance of Multimodal Large Language Models (MLLMs). While recent advancements have primarily focused on improving the model structure and training data of MRMs, there…

Reinforcement Learning (RL) methods have emerged as a popular choice for training an efficient and effective dialogue policy. However, these methods suffer from sparse and unstable reward signals returned by a user simulator only when a…

Imitation learning is well-suited for robotic tasks where it is difficult to directly program the behavior or specify a cost for optimal control. In this work, we propose a method for learning the reward function (and the corresponding…

The reward system is one of the fundamental drivers of animal behaviors and is critical for survival and reproduction. Despite its importance, the problem of how the reward system has evolved is underexplored. In this paper, we try to…

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…

Robots need models of human behavior for both inferring human goals and preferences, and predicting what people will do. A common model is the Boltzmann noisily-rational decision model, which assumes people approximately optimize a reward…

We propose a general and model-free approach for Reinforcement Learning (RL) on real robotics with sparse rewards. We build upon the Deep Deterministic Policy Gradient (DDPG) algorithm to use demonstrations. Both demonstrations and actual…

The work presented in this paper aims to explore how, and to what extent, an adaptive robotic coach has the potential to provide extra motivation to adhere to long-term rehabilitation and help fill the coaching gap which occurs during…

Practical uses of Artificial Intelligence (AI) in the real world have demonstrated the importance of embedding moral choices into intelligent agents. They have also highlighted that defining top-down ethical constraints on AI according to…

Developments in reinforcement learning (RL) have allowed algorithms to achieve impressive performance in highly complex, but largely static problems. In contrast, biological learning seems to value efficiency of adaptation to a…

In this paper, we study the application of DRL algorithms in the context of local navigation problems, in which a robot moves towards a goal location in unknown and cluttered workspaces equipped only with limited-range exteroceptive…

We transform reinforcement learning (RL) into a form of supervised learning (SL) by turning traditional RL on its head, calling this Upside Down RL (UDRL). Standard RL predicts rewards, while UDRL instead uses rewards as task-defining…

Current Large Language Models (LLMs) often undergo supervised fine-tuning (SFT) to acquire tool use capabilities. However, SFT struggles to generalize to unfamiliar or complex tool use scenarios. Recent advancements in reinforcement…

Large language models (LLMs) have demonstrated exciting progress in acquiring diverse new capabilities through in-context learning, ranging from logical reasoning to code-writing. Robotics researchers have also explored using LLMs to…

This paper investigates the role of communication in improving coordination within robot swarms, focusing on a paradigm where learning and execution occur simultaneously in a decentralized manner. We highlight the role communication can…

Robots must know how to be gentle when they need to interact with fragile objects, or when the robot itself is prone to wear and tear. We propose an approach that enables deep reinforcement learning to train policies that are gentle, both…

Many continuous control problems can be formulated as sparse-reward reinforcement learning (RL) tasks. In principle, online RL methods can automatically explore the state space to solve each new task. However, discovering sequences of…

In reinforcement learning (RL), the consideration of multivariate reward signals has led to fundamental advancements in multi-objective decision-making, transfer learning, and representation learning. This work introduces the first…