Related papers: In-situ Value-aligned Human-Robot Interactions wit…
Adjusting robot behavior to human preferences can require intensive human feedback, preventing quick adaptation to new users and changing circumstances. Moreover, current approaches typically treat user preferences as a reward, which…
Ensuring that large language models (LLMs) are both helpful and harmless is a critical challenge, as overly strict constraints can lead to excessive refusals, while permissive models risk generating harmful content. Existing approaches,…
Large language models are typically aligned with human preferences by optimizing $\textit{reward models}$ (RMs) fitted to human feedback. However, human preferences are multi-faceted, and it is increasingly common to derive reward from a…
Reinforcement Learning from Human Feedback (RLHF) is widely used to align Language Models (LMs) with human preferences. However, existing approaches often neglect individual user preferences, leading to suboptimal personalization. We…
Reinforcement Learning from Human Feedback (RLHF) aligns language models to human preferences by employing a singular reward model derived from preference data. However, such an approach overlooks the rich diversity of human preferences…
In human-robot interaction (HRI), the beginning of an interaction is often complex. Whether the robot should communicate with the human is dependent on several situational factors (e.g., the current human's activity, urgency of the…
While large language models demonstrate remarkable capabilities, they often present challenges in terms of safety, alignment with human values, and stability during training. Here, we focus on two prevalent methods used to align these…
In this article, we investigate the alignment of Large Language Models according to human preferences. We discuss the features of training a Preference Model, which simulates human preferences, and the methods and details we found essential…
Reinforcement learning from human feedback (RLHF) is a recent technique to improve the quality of the text generated by a language model, making it closer to what humans would generate. A core ingredient in RLHF's success in aligning and…
Large language models (LLMs) often contain misleading content, emphasizing the need to align them with human values to ensure secure AI systems. Reinforcement learning from human feedback (RLHF) has been employed to achieve this alignment.…
Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…
Reinforcement learning from human feedback (RLHF) has been an effective technique for aligning AI systems with human values, with remarkable successes in fine-tuning large-language models recently. Most existing RLHF paradigms make the…
Anticipating and adapting to failures is a key capability robots need to collaborate effectively with humans in complex domains. This continues to be a challenge despite the impressive performance of state of the art AI planning systems and…
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…
Reinforcement Learning from Human Feedback (RLHF) has emerged as a pivotal technique for aligning artificial intelligence systems with human values, achieving remarkable success in fine-tuning large language models. However, existing RLHF…
Reinforcement Learning from Human Feedback (RLHF) is commonly employed to tailor models to human preferences, especially to improve the safety of outputs from large language models (LLMs). Traditionally, this method depends on selecting…
Personalized alignments for individual users have been a long-standing goal in large language models (LLMs). We introduce Drift, a novel framework that personalizes LLMs at decoding time with implicit user preferences. Traditional…
In real-world human-robot systems, it is essential for a robot to comprehend human objectives and respond accordingly while performing an extended series of motor actions. Although human objective alignment has recently emerged as a…
Predicting human behavior in shared environments is crucial for safe and efficient human-robot interaction. Traditional data-driven methods to that end are pre-trained on domain-specific datasets, activity types, and prediction horizons. In…
As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…