Related papers: Learning Reward for Robot Skills Using Large Langu…

We explore a method for improving the performance of large language models through self-reflection and reinforcement learning. By incentivizing the model to generate better self-reflections when it answers incorrectly, we demonstrate that a…

Recent advancements in Large Language Models (LLMs) and Visual Language Models (VLMs) have significantly impacted robotics, enabling high-level semantic motion planning applications. Reinforcement Learning (RL), a complementary paradigm,…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

Reward design plays a pivotal role in aligning large language models (LLMs) with human values, serving as the bridge between feedback signals and model optimization. This survey provides a structured organization of reward modeling and…

Reinforcement Learning (RL) in games has gained significant momentum in recent years, enabling the creation of different agent behaviors that can transform a player's gaming experience. However, deploying RL agents in production…

Latent learning, classically theorized by Tolman, shows that biological agents (e.g., rats) can acquire internal representations of their environment without rewards, enabling rapid adaptation once rewards are introduced. In contrast, from…

Reinforcement learning (RL) has demonstrated potential in enhancing the reasoning capabilities of large language models (LLMs), but such training typically demands substantial efforts in creating and annotating data. In this work, we…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…

We present LARL-RM (Large language model-generated Automaton for Reinforcement Learning with Reward Machine) algorithm in order to encode high-level knowledge into reinforcement learning using automaton to expedite the reinforcement…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

Large Language Models (LLMs) have the potential to automate reward engineering by leveraging their broad domain knowledge across various tasks. However, they often need many iterations of trial-and-error to generate effective reward…

We posit that to achieve superhuman agents, future models require superhuman feedback in order to provide an adequate training signal. Current approaches commonly train reward models from human preferences, which may then be bottlenecked by…

Reward models (RMs) have become essential for aligning large language models (LLMs), serving as scalable proxies for human evaluation in both training and inference. However, existing RMs struggle on knowledge-intensive and long-form tasks,…

Large Language Models have demonstrated outstanding performance across various downstream tasks and have been widely applied in multiple scenarios. Human-annotated preference data is used for training to further improve LLMs' performance,…

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,…

In the quest for super-human performance, Large Language Models (LLMs) have traditionally been tethered to human-annotated datasets and predefined training objectives-a process that is both labor-intensive and inherently limited. This paper…

The correct specification of reward models is a well-known challenge in reinforcement learning. Hand-crafted reward functions often lead to inefficient or suboptimal policies and may not be aligned with user values. Reinforcement learning…

We study estimation and statistical inference for reward models used in aligning large language models (LLMs). A key component of LLM alignment is reinforcement learning from human feedback (RLHF), where humans compare pairs of…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

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…