相关论文: Planning With Uncertain Specifications (PUnS)

Comprehensive evaluation of Large Language Models (LLMs) is an open research problem. Existing evaluations rely on deterministic point estimates generated via greedy decoding. However, we find that deterministic evaluations fail to capture…

Deep Reinforcement Learning (RL) has emerged as a powerful paradigm to solve a range of complex yet specific control tasks. Yet training generalist agents that can quickly adapt to new tasks remains an outstanding challenge. Recent advances…

We introduce GAIN (Goal-Aligned Decision-Making under Imperfect Norms), a benchmark designed to evaluate how large language models (LLMs) balance adherence to norms against business goals. Existing benchmarks typically focus on abstract…

Aligning Large Language Models (LLMs) to human preferences in content, style, and presentation is challenging, in part because preferences are varied, context-dependent, and sometimes inherently ambiguous. While successful, Reinforcement…

Iterative preference optimization has recently become one of the de-facto training paradigms for large language models (LLMs), but the performance is still underwhelming due to too much noisy preference data yielded in the loop. To combat…

Large Language Model (LLM) agents can increasingly automate complex reasoning through Test-Time Scaling (TTS), iterative refinement guided by reward signals. However, many real-world tasks involve multi-stage pipeline whose final outcomes…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…

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…

Despite demonstrating impressive capabilities, Large Language Models (LLMs) still often struggle to accurately express the factual knowledge they possess, especially in cases where the LLMs' knowledge boundaries are ambiguous. To improve…

Large language models (LLMs) are increasingly applied in diverse real-world scenarios, each governed by bespoke behavioral and safety specifications (spec) custom-tailored by users or organizations. These spec, categorized into safety-spec…

The aim of Reinforcement Learning (RL) in real-world applications is to create systems capable of making autonomous decisions by learning from their environment through trial and error. This paper emphasizes the importance of reward…

Many real-world robot learning problems, such as pick-and-place or arriving at a destination, can be seen as a problem of reaching a goal state as soon as possible. These problems, when formulated as episodic reinforcement learning tasks,…

Virtually all verification and synthesis techniques assume that the formal specifications are readily available, functionally correct, and fully match the engineer's understanding of the given system. However, this assumption is often…

Reinforcement learning (RL) has enabled major advances in fields such as robotics and natural language processing. A key challenge in RL is measuring task complexity, which is essential for creating meaningful benchmarks and designing…

Behavior and motion planning play an important role in automated driving. Traditionally, behavior planners instruct local motion planners with predefined behaviors. Due to the high scene complexity in urban environments, unpredictable…

The success of reinforcement learning (RL) is fundamentally tied to having a reward function that accurately reflects the task objective. Yet, designing reward functions is notoriously time-consuming and prone to misspecification. To…

Given the task of positioning a ball-like object to a goal region beyond direct reach, humans can often throw, slide, or rebound objects against the wall to attain the goal. However, enabling robots to reason similarly is non-trivial.…

Reward is the driving force for reinforcement-learning agents. This paper is dedicated to understanding the expressivity of reward as a way to capture tasks that we would want an agent to perform. We frame this study around three new…

This paper introduces a novel approach to solve inverse problems by leveraging deep learning techniques. The objective is to infer unknown parameters that govern a physical system based on observed data. We focus on scenarios where the…

Instruction tuning (IT) achieves impressive zero-shot generalization results by training large language models (LLMs) on a massive amount of diverse tasks with instructions. However, how to select new tasks to improve the performance and…