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Grounding language in perception and action is a key challenge when building situated agents that can interact with humans, or other agents, via language. In the past, addressing this challenge has required manually designing the language…

Large Language Models (LLMs) have made substantial strides in structured tasks through Reinforcement Learning (RL), demonstrating proficiency in mathematical reasoning and code generation. However, applying RL in broader domains like…

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 (RL) in sparse-reward environments remains a significant challenge due to the lack of informative feedback. We propose a simple yet effective method that uses a small number of successful demonstrations to initialize…

Large language model alignment via reinforcement learning depends critically on reward function quality. However, static, domain-specific reward models are often costly to train and exhibit poor generalization in out-of-distribution…

Reward design is a critical part of the application of reinforcement learning, the performance of which strongly depends on how well the reward signal frames the goal of the designer and how well the signal assesses progress in reaching…

While reinforcement learning has achieved considerable successes in recent years, state-of-the-art models are often still limited by the size of state and action spaces. Model-free reinforcement learning approaches use some form of state…

We introduce ReWiND, a framework for learning robot manipulation tasks solely from language instructions without per-task demonstrations. Standard reinforcement learning (RL) and imitation learning methods require expert supervision through…

Reward models (RMs) have become essential for aligning large language models (LLMs), serving as scalable proxies for human evaluation in both training and inference. However, existing RMs struggle on knowledge-intensive and long-form tasks,…

In real-world scenarios, it is desirable for embodied agents to have the ability to leverage human language to gain explicit or implicit knowledge for learning tasks. Despite recent progress, most previous approaches adopt simple low-level…

Large Language Models (LLMs) have demonstrated remarkable capabilities across various tasks, yet they face significant challenges in embodied task planning scenarios that require continuous environmental understanding and action generation.…

In Reinforcement Learning (RL), it is commonly assumed that an immediate reward signal is generated for each action taken by the agent, helping the agent maximize cumulative rewards to obtain the optimal policy. However, in many real-world…

One of the final frontiers in the development of complex human - AI collaborative systems is the ability of AI agents to comprehend the natural language and perform tasks accordingly. However, training efficient Reinforcement Learning (RL)…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

Extending large language models (LLMs) to low-resource languages often incurs an "alignment tax": improvements in the target language come at the cost of catastrophic forgetting in general capabilities. We argue that this trade-off arises…

Reinforcement learning (RL), particularly in sparse reward settings, often requires prohibitively large numbers of interactions with the environment, thereby limiting its applicability to complex problems. To address this, several prior…

Offline Reinforcement Learning (ORL) offers a robust solution to training agents in applications where interactions with the environment must be strictly limited due to cost, safety, or lack of accurate simulation environments. Despite its…

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…

Large language models (LLMs) have been increasingly used to interact with external environments (e.g., games, compilers, APIs) as goal-driven agents. However, it remains challenging for these language agents to quickly and efficiently learn…

Reinforcement learning (RL) holds significant promise for training LLM agents to handle complex, goal-oriented tasks that require multi-step interactions with external environments. However, a critical challenge when applying RL to these…