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Learning from preference feedback is essential for aligning large language models (LLMs) with human values and improving the quality of generated responses. However, existing preference learning methods rely heavily on curated data from…

Learning human preferences is essential for human-robot interaction, as it enables robots to adapt their behaviors to align with human expectations and goals. However, the inherent uncertainties in both human behavior and robotic systems…

Aligning the output of Large Language Models (LLMs) with human preferences (e.g., by means of reinforcement learning with human feedback, or RLHF) is essential for ensuring their effectiveness in real-world scenarios. Despite significant…

Simultaneous Machine Translation (SiMT) generates translations while receiving streaming source inputs. This requires the SiMT model to learn a read/write policy, deciding when to translate and when to wait for more source input. Numerous…

This paper presents a framework that leverages both control theory and machine learning to obtain stable and robust bipedal locomotion without the need for manual parameter tuning. Traditionally, gaits are generated through trajectory…

Trained on vast corpora, Large Language Models (LLMs) have the potential to encode visualization design knowledge and best practices. However, if they fail to do so, they might provide unreliable visualization recommendations. What…

Large language models (LLMs) have demonstrated impressive success in a wide range of natural language processing (NLP) tasks due to their extensive general knowledge of the world. Recent works discovered that the performance of LLMs is…

Large Language Models (LLMs) excel at understanding natural language but struggle with optimisation tasks involving multiple constraints and user-defined preferences, which commonly arise in domains such as robotics. We propose a hybrid…

We consider learning problems of an intuitive and concise preference model, called lexicographic preference lists (LP-lists). Given a set of examples that are pairwise ordinal preferences over a universe of objects built of attributes of…

Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requiring deep knowledge of the relationship between parameter…

As large language models (LLMs) become more capable, fine-tuning techniques for aligning with human intent are increasingly important. A key consideration for aligning these models is how to most effectively use human resources, or model…

Exploratoration and self-observation are key mechanisms of infant sensorimotor development. These processes are further guided by parental scaffolding accelerating skill and knowledge acquisition. In developmental robotics, this approach…

Reinforcement learning from human feedback (RLHF) has emerged as an effective approach to aligning large language models (LLMs) to human preferences. RLHF contains three steps, i.e., human preference collecting, reward learning, and policy…

Recent paradigms in Random Projection Layer (RPL)-based continual representation learning have demonstrated superior performance when building upon a pre-trained model (PTM). These methods insert a randomly initialized RPL after a PTM to…

To design rewards that align with human goals, Reinforcement Learning from Human Feedback (RLHF) has emerged as a prominent technique for learning reward functions from human preferences and optimizing policies via reinforcement learning…

Learning from human preferences is a cornerstone of aligning machine learning models with subjective human judgments. Yet, collecting such preference data is often costly and time-consuming, motivating the need for more efficient learning…

The recent success in using human preferences to align large language models (LLMs) has significantly improved their performance in various downstream tasks, such as question answering, mathematical reasoning, and code generation. However,…

Reinforcement Learning from Human Feedback (RLHF) has emerged as a popular paradigm for aligning models with human intent. Typically RLHF algorithms operate in two phases: first, use human preferences to learn a reward function and second,…

Large Language Models (LLMs) have become increasingly popular due to their ability to process and generate natural language. However, as they are trained on massive datasets of text, LLMs can inherit harmful biases and produce outputs that…

Preference-based Reinforcement Learning (PbRL) is a paradigm in which an RL agent learns to optimize a task using pair-wise preference-based feedback over trajectories, rather than explicit reward signals. While PbRL has demonstrated…