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Data-driven methods have great advantages in modeling complicated human behavioral dynamics and dealing with many human-robot interaction applications. However, collecting massive and annotated real-world human datasets has been a laborious…

Effective feature-extraction is critical to models' contextual understanding, particularly for applications to robotics and autonomous driving, such as multimodal trajectory prediction. However, state-of-the-art generative methods face…

Reinforcement Learning from Human Feedback (RLHF) aligns language models with human preferences but is computationally expensive. We explore two approaches that leverage human gaze modeling to enhance RLHF: (1) gaze-aware reward models and…

Autonomous driving faces significant challenges in achieving human-like iterative decision-making, which continuously generates, evaluates, and refines trajectory proposals. Current generation-evaluation frameworks isolate trajectory…

Learning rewards from preference feedback has become an important tool in the alignment of agentic models. Preference-based feedback, often implemented as a binary comparison between multiple completions, is an established method to acquire…

Through the method of Learning Feedback Linearization, we seek to learn a linearizing controller to simplify the process of controlling a car to race autonomously. A soft actor-critic approach is used to learn a decoupling matrix and drift…

The success of AI assistants based on language models (LLMs) hinges crucially on Reinforcement Learning from Human Feedback (RLHF), which enables the generation of responses more aligned with human preferences. As universal AI assistants,…

When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…

This paper studies reinforcement learning from human feedback (RLHF) for aligning large language models with human preferences. While RLHF has demonstrated promising results, many algorithms are highly sensitive to misspecifications in the…

Generative foundation models are susceptible to implicit biases that can arise from extensive unsupervised training data. Such biases can produce suboptimal samples, skewed outcomes, and unfairness, with potentially serious consequences.…

Reinforcement learning from human feedback (RLHF) has proven effective in aligning large language models (LLMs) with human preferences, but gathering high-quality preference labels is expensive. RL from AI Feedback (RLAIF), introduced in…

For the most comfortable, human-aware robot navigation, subjective user preferences need to be taken into account. This paper presents a novel reinforcement learning framework to train a personalized navigation controller along with an…

Reinforcement Learning from Human Feedback (RLHF) is a pivotal technique for aligning large language models (LLMs) with human preferences, yet it is susceptible to reward overoptimization, in which policy models overfit to the reward model,…

A centerpiece of the ever-popular reinforcement learning from human feedback (RLHF) approach to fine-tuning autoregressive language models is the explicit training of a reward model to emulate human feedback, distinct from the language…

Reinforcement Learning from Human Feedback (RLHF) has been credited as the key advance that has allowed Large Language Models (LLMs) to effectively follow instructions and produce useful assistance. Classically, this involves generating…

Reinforcement Learning from Human Feedback (RLHF) is widely used in Large Language Model (LLM) alignment. Traditional RL can be modeled as a dataflow, where each node represents computation of a neural network (NN) and each edge denotes…

Current autonomous driving systems often favor end-to-end frameworks, which take sensor inputs like images and learn to map them into trajectory space via neural networks. Previous work has demonstrated that models can achieve better…

Multi-Agent Reinforcement Learning (MARL) has shown promise in solving complex problems involving cooperation and competition among agents, such as an Unmanned Surface Vehicle (USV) swarm used in search and rescue, surveillance, and vessel…

Trajectory prediction is a crucial task in modeling human behavior, especially in fields as social robotics and autonomous vehicle navigation. Traditional heuristics based on handcrafted rules often lack accuracy, while recently proposed…

To construct effective teaming strategies between humans and AI systems in complex, risky situations requires an understanding of individual preferences and behaviors of humans. Previously this problem has been treated in case-specific or…