Related papers: CLF-RL: Control Lyapunov Function Guided Reinforce…

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…

Reinforcement learning (RL) often struggles with reward misalignment, where agents optimize given rewards but fail to exhibit the desired behaviors. This arises when the reward function incentivizes proxy behaviors misaligned with the true…

Reinforcement learning (RL) is a popular approach for robotic path planning in uncertain environments. However, the control policies trained for an RL agent crucially depend on user-defined, state-based reward functions. Poorly designed…

Mathematical reasoning is a key benchmark for large language models. Reinforcement learning is a standard post-training mechanism for improving the reasoning capabilities of large language models, yet performance remains sensitive to the…

Establishing stability certificates for closed-loop systems under reinforcement learning (RL) policies is essential to move beyond empirical performance and offer guarantees of system behavior. Classical Lyapunov methods require a strict…

Reinforcement Learning (RL) serves as a versatile framework for sequential decision-making, finding applications across diverse domains such as robotics, autonomous driving, recommendation systems, supply chain optimization, biology,…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Reinforcement learning from human feedback (RLHF) has become a key factor in aligning model behavior with users' goals. However, while humans integrate multiple strategies when making decisions, current RLHF approaches often simplify this…

Reinforcement Learning (RL) allows learning non-trivial robot control laws purely from data. However, many successful applications of RL have relied on ad-hoc regularizations, such as hand-crafted curricula, to regularize the learning…

Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment…

We present a reinforcement learning (RL) framework to synthesize a control policy from a given linear temporal logic (LTL) specification in an unknown stochastic environment that can be modeled as a Markov Decision Process (MDP).…

Self-paced reinforcement learning (RL) aims to improve the data efficiency of learning by automatically creating sequences, namely curricula, of probability distributions over contexts. However, existing techniques for self-paced RL fail in…

Reinforcement Learning from Human Feedback (RLHF) plays a crucial role in aligning large language models (LLMs) with human values and preferences. However, the quality and stability of the trained reward model largely determine the final…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

The deployment of Reinforcement Learning to robotics applications faces the difficulty of reward engineering. Therefore, approaches have focused on creating reward functions by Learning from Observations (LfO) which is the task of learning…

Goal-conditioned and Multi-Task Reinforcement Learning (GCRL and MTRL) address numerous problems related to robot learning, including locomotion, navigation, and manipulation scenarios. Recent works focusing on language-defined robotic…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Video generation models produce visually coherent content but struggle with tasks requiring spatial reasoning and multi-step planning. Reinforcement learning (RL) offers a path to improve generalization, but its effectiveness in video…

The techniques to design control Lyapunov functions (CLF), along with a proper stabilizing feedback, possibly in the presence of constraints, often provide control laws that are too complex for proper implementation online, especially when…

Reinforcement learning (RL) has shown to be a valuable tool in training neural networks for autonomous motion planning. The application of RL to a specific problem is dependent on a reward signal to quantify how good or bad a certain action…