Related papers: What Matters to You? Towards Visual Representation…

Model-based reinforcement learning (RL) algorithms designed for handling complex visual observations typically learn some sort of latent state representation, either explicitly or implicitly. Standard methods of this sort do not distinguish…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Inferring reward functions from demonstrations is a key challenge in reinforcement learning (RL), particularly in multi-agent RL (MARL), where large joint state-action spaces and complex inter-agent interactions complicate the task. While…

Reward learning enables the application of reinforcement learning (RL) to tasks where reward is defined by human judgment, building a model of reward by asking humans questions. Most work on reward learning has used simulated environments,…

To collaborate well with robots, we must be able to understand their decision making. Humans naturally infer other agents' beliefs and desires by reasoning about their observable behavior in a way that resembles inverse reinforcement…

The main challenge in developing effective reinforcement learning (RL) pipelines is often the design and tuning the reward functions. Well-designed shaping reward can lead to significantly faster learning. Naively formulated rewards,…

Learning from human feedback has gained traction in fields like robotics and natural language processing in recent years. While prior works mostly rely on human feedback in the form of comparisons, language is a preferable modality that…

Preference-Based reinforcement learning (PBRL) learns directly from the preferences of human teachers regarding agent behaviors without needing meticulously designed reward functions. However, existing PBRL methods often learn primarily…

Large Language Models (LLMs) have achieved remarkable success across diverse natural language tasks, yet the reward models employed for aligning LLMs often encounter challenges of reward hacking, where the approaches predominantly rely on…

Reinforcement learning based fine-tuning of large language models (LLMs) on human preferences has been shown to enhance both their capabilities and safety behavior. However, in cases related to safety, without precise instructions to human…

Reinforcement learning (RL) often struggles with reward misalignment, where agents optimize given rewards but fail to exhibit the desired behaviors. This arises when the reward function incentivizes proxy behaviors misaligned with the true…

Problems involving multiple networks are prevalent in many scientific and other domains. In particular, network alignment, or the task of identifying corresponding nodes in different networks, has applications across the social and natural…

Reinforcement Learning from Human Feedback (RLHF) is a widely used approach to align large-scale AI systems with human values. However, RLHF typically assumes a single, universal reward, which overlooks diverse preferences and limits…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…

Robots often need to convey information to human users. For example, robots can leverage visual, auditory, and haptic interfaces to display their intent or express their internal state. In some scenarios there are socially agreed upon…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Human-in-the-loop reinforcement learning allows the training of agents through various interfaces, even for non-expert humans. Recently, preference-based methods (PbRL), where the human has to give his preference over two trajectories,…

In reinforcement learning (RL), different reward functions can define the same optimal policy but result in drastically different learning performance. For some, the agent gets stuck with a suboptimal behavior, and for others, it solves the…

Aligning human preference and value is an important requirement for contemporary foundation models. State-of-the-art techniques such as Reinforcement Learning from Human Feedback (RLHF) often consist of two stages: 1) supervised fine-tuning…