Related papers: FORM: Learning Expressive and Transferable First-O…

This paper presents a reinforcement learning framework that incorporates a Contextual Reward Machine for task-oriented grasping. The Contextual Reward Machine reduces task complexity by decomposing grasping tasks into manageable sub-tasks.…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

Reinforcement learning is now widely adopted as the final stage of large language model training, especially for reasoning-style tasks such as maths problems. Typically, models attempt each question many times during a single training step…

Reinforcement Learning with Verifiable Rewards (RLVR) has recently emerged as a promising framework for improving reasoning abilities in Large Language Models (LLMs). However, policy optimized with binary verification prone to overlook…

Bus holding control is a widely-adopted strategy for maintaining stability and improving the operational efficiency of bus systems. Traditional model-based methods often face challenges with the low accuracy of bus state prediction and…

We propose a novel logic, called Frame Logic (FL), that extends first-order logic (with recursive definitions) using a construct Sp(.) that captures the implicit supports of formulas -- the precise subset of the universe upon which their…

The combination of deep neural network models and reinforcement learning algorithms can make it possible to learn policies for robotic behaviors that directly read in raw sensory inputs, such as camera images, effectively subsuming both…

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…

Large language models (LLMs) have demonstrated strong reasoning abilities in mathematical tasks, often enhanced through reinforcement learning (RL). However, RL-trained models frequently produce unnecessarily long reasoning traces -- even…

Reinforcement Learning (RL) has traditionally focused on training specialized agents to optimize predefined reward functions within narrowly defined environments. However, the advent of powerful Large Language Models (LLMs) and increasingly…

Large language models (LLMs) excel at logical and algorithmic reasoning, yet their emotional intelligence (EQ) still lags far behind their cognitive prowess. While reinforcement learning from verifiable rewards (RLVR) has advanced in other…

Reinforcement Learning (RL) has enabled Large Language Models (LLMs) to achieve remarkable reasoning in domains like mathematics and coding, where verifiable rewards provide clear signals. However, extending this paradigm to financial…

Large Language Models (LLMs) demonstrate transformative potential, yet their reasoning remains inconsistent and unreliable. Reinforcement learning (RL)-based fine-tuning is a key mechanism for improvement, but its effectiveness is…

In classical Reinforcement Learning from Human Feedback (RLHF), Reward Models (RMs) serve as the fundamental signal provider for model alignment. As Large Language Models evolve into agentic systems capable of autonomous tool invocation and…

Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and safety guarantees while being effective in accomplishing many locomotion tasks. Model-free reinforcement…

We study inverse reinforcement learning (IRL) and imitation learning (IM), the problems of recovering a reward or policy function from expert's demonstrated trajectories. We propose a new way to improve the learning process by adding a…

Generative Reward Models (GRMs) provide greater flexibility than scalar reward models in capturing human preferences, but their effectiveness is limited by poor reasoning capabilities. This often results in incomplete or overly speculative…

This paper studies satisfaction of temporal properties on unknown stochastic processes that have continuous state spaces. We show how reinforcement learning (RL) can be applied for computing policies that are finite-memory and deterministic…

Reward functions are central in reinforcement learning (RL), guiding agents towards optimal decision-making. The complexity of RL tasks requires meticulously designed reward functions that effectively drive learning while avoiding…

Reinforcement learning has become the central approach for language models (LMs) to learn from environmental reward or feedback. In practice, the environmental feedback is usually sparse and delayed. Learning from such signals is…