Related papers: ELEMENTAL: Interactive Learning from Demonstration…

Reinforcement Fine-Tuning (RFT) with verifiable rewards has advanced large language models but remains underexplored for Vision-Language (VL) models. The Vision-Language Reward Model (VL-RM) is key to aligning VL models by providing…

Reinforcement learning (RL) has demonstrated its capability in solving various tasks but is notorious for its low sample efficiency. In this paper, we propose RLingua, a framework that can leverage the internal knowledge of large language…

Reward models are critical for reinforcement learning from human feedback, as they determine the alignment quality and reliability of generative models. For complex tasks such as image editing, reward models are required to capture global…

Deep reinforcement learning (DRL) shows promising potential for autonomous driving decision-making. However, DRL demands extensive computational resources to achieve a qualified policy in complex driving scenarios due to its low learning…

Reinforcement learning (RL) depends critically on the choice of reward functions used to capture the de- sired behavior and constraints of a robot. Usually, these are handcrafted by a expert designer and represent heuristics for relatively…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

We provide new perspectives and inference algorithms for Maximum Entropy (MaxEnt) Inverse Reinforcement Learning (IRL), which provides a principled method to find a most non-committal reward function consistent with given expert…

We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and efficient task-specific trajectories. This framework is…

Reinforcement learning (RL) is a promising approach. However, success is limited to real-world applications, because ensuring safe exploration and facilitating adequate exploitation is a challenge for controlling robotic systems with…

Recent advances have demonstrated the effectiveness of Reinforcement Learning (RL) in improving the reasoning capabilities of Large Language Models (LLMs). However, existing works inevitably rely on high-quality instructions and verifiable…

Learning from Demonstration (LfD) seeks to democratize robotics by enabling non-roboticist end-users to teach robots to perform a task by providing a human demonstration. However, modern LfD techniques, e.g. inverse reinforcement learning…

Instruction-driven image editing with unified multimodal generative models has advanced rapidly, yet their underlying visual reasoning remains limited, leading to suboptimal performance on reasoning-centric edits. Reinforcement learning…

Reinforcement Learning (RL) has emerged as a transformative approach for aligning and enhancing Large Language Models (LLMs), addressing critical challenges in instruction following, ethical alignment, and reasoning capabilities. This…

The effectiveness of reinforcement learning (RL) agents in continuous control robotics tasks is mainly dependent on the design of the underlying reward function, which is highly prone to reward hacking. A misalignment between the reward…

Many real-world applications require an agent to make robust and deliberate decisions with multimodal information (e.g., robots with multi-sensory inputs). However, it is very challenging to train the agent via reinforcement learning (RL)…

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…

Reinforcement Learning (RL) has emerged as a dominant paradigm for end-to-end autonomous driving (AD). However, RL suffers from sample inefficiency and a lack of semantic interpretability in complex scenarios. Foundation Models,…

Fine-tuning Large Language Models (LLMs) typically relies on large quantities of high-quality annotated data, or questions with well-defined ground truth answers in the case of Reinforcement Learning with Verifiable Rewards (RLVR). While…

The successes of reinforcement learning in recent years are underpinned by the characterization of suitable reward functions. However, in settings where such rewards are non-intuitive, difficult to define, or otherwise error-prone in their…

Learning to rank (LTR) plays a crucial role in various Information Retrieval (IR) tasks. Although supervised LTR methods based on fine-grained relevance labels (e.g., document-level annotations) have achieved significant success, their…