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Long-horizon interactions require language models to manage accumulating information: when to update their state, when to preserve their state, and what to ignore. We study this challenge as \textbf{Contextual Belief Management (CBM)}:…
Robots often need to learn the human's reward function online, during the current interaction. This real-time learning requires fast but approximate learning rules: when the human's behavior is noisy or suboptimal, current approximations…
Reinforcement learning post-training has substantially improved the reasoning accuracy of vision-language models, yet the resulting policies remain poorly calibrated. Terminal correctness rewards provide no gradient that penalizes confident…
Unlearning methods have the potential to improve the privacy and safety of large language models (LLMs) by removing sensitive or harmful information post hoc. The LLM unlearning research community has increasingly turned toward empirical…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…
As a means to balance the growth of the AI industry with the need for privacy protection, machine unlearning plays a crucial role in realizing the ``right to be forgotten'' in artificial intelligence. This technique enables AI systems to…
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…
We consider the problem of learning from training data obtained in different contexts, where the underlying context distribution is unknown and is estimated empirically. We develop a robust method that takes into account the uncertainty of…
Multi-task learning (MTL) aims to build general-purpose vision systems by training a single network to perform multiple tasks jointly. While promising, its potential is often hindered by "unbalanced optimization", where task interference…
The vast majority of theoretical results in machine learning and statistics assume that the available training data is a reasonably reliable reflection of the phenomena to be learned or estimated. Similarly, the majority of machine learning…
We introduce a control-tutored reinforcement learning (CTRL) algorithm. The idea is to enhance tabular learning algorithms by means of a control strategy with limited knowledge of the system model. By tutoring the learning process, the…
While reinforcement learning (RL) holds great potential for decision making in the real world, it suffers from a number of unique difficulties which often need specific consideration. In particular: it is highly non-stationary; suffers from…
Reinforcement Learning is a powerful framework for training agents to navigate different situations, but it is susceptible to changes in environmental dynamics. However, solving Markov Decision Processes that are robust to changes is…
Reinforcement Learning with Verifiable Rewards (RLVR) has emerged as an important paradigm for unlocking reasoning capabilities in large language models, exemplified by the success of OpenAI o1 and DeepSeek-R1. Currently, Group Relative…
This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…
Multi-task representation learning (MTRL) is an approach that learns shared latent representations across related tasks, facilitating collaborative learning that improves the overall learning efficiency. This paper studies MTRL for…
We study how a decision-maker (DM) learns from data of unknown quality to form robust, ''general-purpose'' posterior beliefs. We develop a framework for robust learning and belief formation under a minimax-regret criterion, cast as a…
Programming robots to perform complex tasks is often difficult and time consuming, requiring expert knowledge and skills in robot software and sometimes hardware. Imitation learning is a method for training robots to perform tasks by…
Multi-behavior recommendation faces a critical challenge in practice: auxiliary behaviors (e.g., clicks, carts) are often noisy, weakly correlated, or semantically misaligned with the target behavior (e.g., purchase), which leads to biased…
Dynamic real-time optimization (DRTO) is a challenging task due to the fact that optimal operating conditions must be computed in real time. The main bottleneck in the industrial application of DRTO is the presence of uncertainty. Many…