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Humanoid loco-manipulation requires coordinated high-level motion plans with stable, low-level whole-body execution under complex robot-environment dynamics and long-horizon tasks. While diffusion policies (DPs) show promise for learning…

Diffusion large language models (dLLMs), which offer a promising alternative to traditional autoregressive LLMs, have recently shown strong results in pretraining. However, due to their lack of tractable sequence-level likelihoods, they…

Diffusion models have achieved remarkable progress in text-to-image generation, yet aligning them with human preference remains challenging due to the presence of multiple, sometimes conflicting, evaluation metrics (e.g., semantic…

Large language models (LLMs) are fine-tuned using human comparison data with Reinforcement Learning from Human Feedback (RLHF) methods to make them better aligned with users' preferences. In contrast to LLMs, human preference learning has…

Robotic control policies learned from human demonstrations have achieved impressive results in many real-world applications. However, in scenarios where initial performance is not satisfactory, as is often the case in novel open-world…

Reinforcement learning has demonstrated impressive performance in various challenging problems such as robotics, board games, and classical arcade games. However, its real-world applications can be hindered by the absence of robustness and…

We argue that inventory management presents unique opportunities for the reliable application of deep reinforcement learning (DRL). To enable this, we emphasize and test two complementary techniques. The first is Hindsight Differentiable…

Fine-tuning is integral for aligning large language models (LLMs) with human preferences. Multiple-Reference Preference Optimization (MRPO) builds on Direct Preference Optimization (DPO) by fine-tuning LLMs on preference datasets while…

Large language model (LLM)-based agents are increasingly trained with reinforcement learning (RL) to enhance their ability to interact with external environments through tool use, particularly in search-based settings that require…

The online 3D bin packing problem is important in logistics, warehousing and intelligent manufacturing, with solutions shifting to deep reinforcement learning (DRL) which faces challenges like low sample efficiency. This paper proposes a…

Trust region policy optimization (TRPO) is a popular and empirically successful policy search algorithm in Reinforcement Learning (RL) in which a surrogate problem, that restricts consecutive policies to be 'close' to one another, is…

Recent developments in offline reinforcement learning have uncovered the immense potential of diffusion modeling, which excels at representing heterogeneous behavior policies. However, sampling from diffusion policies is considerably slow…

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and…

Conditional decision generation with diffusion models has shown powerful competitiveness in reinforcement learning (RL). Recent studies reveal the relation between energy-function-guidance diffusion models and constrained RL problems. The…

Diffusion models have achieved state-of-the-art performance across multiple domains, with recent advancements extending their applicability to discrete data. However, aligning discrete diffusion models with task-specific preferences remains…

Reinforcement learning (RL) has recently become the core paradigm for aligning and strengthening large language models (LLMs). Yet, applying RL in off-policy settings--where stale data from past policies are used for training--improves…

Recent works in Reinforcement Learning (RL) combine model-free (Mf)-RL algorithms with model-based (Mb)-RL approaches to get the best from both: asymptotic performance of Mf-RL and high sample-efficiency of Mb-RL. Inspired by these works,…

Direct Preference Optimization (DPO) guides large language models (LLMs) to generate recommendations aligned with user historical behavior distributions by minimizing preference alignment loss. However, our systematic empirical research and…

Blind Face Restoration (BFR) encounters inherent challenges in exploring its large solution space, leading to common artifacts like missing details and identity ambiguity in the restored images. To tackle these challenges, we propose a…

Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified…