相关论文: Reward (Mis)design for Autonomous Driving

General Alignment has improved average-case helpfulness and safety, but current alignment practice still rewards confident, single-turn responses. The problem is not only that models fail on edge cases; it is that current evaluation makes…

For sparse, structured reinforcement-learning tasks with semantic reward-function interfaces, LLM-generated reward shaping is better framed as debugging than one-shot generation. We study PPO-trained agents using MiniGrid as core evaluation…

Academic research in the field of autonomous vehicles has reached high popularity in recent years related to several topics as sensor technologies, V2X communications, safety, security, decision making, control, and even legal and…

Reward hacking is a form of misalignment in which models overoptimize proxy rewards without genuinely solving the underlying task. Precisely measuring reward hacking occurrence remains challenging because true task rewards are often…

The aim of Inverse Reinforcement Learning (IRL) is to infer a reward function $R$ from a policy $\pi$. This problem is difficult, for several reasons. First of all, there are typically multiple reward functions which are compatible with a…

Autonomous driving has shown great potential to reform modern transportation. Yet its reliability and safety have drawn a lot of attention and concerns. Compared with traditional software systems, autonomous driving systems (ADSs) often use…

We study self-rewarding reasoning large language models (LLMs), which can simultaneously generate step-by-step reasoning and evaluate the correctness of their outputs during the inference time-without external feedback. This integrated…

Reward shaping has been applied widely to accelerate Reinforcement Learning (RL) agents' training. However, a principled way of designing effective reward shaping functions, especially for complex continuous control problems, remains…

We study reinforcement learning (RL) for decision processes with non-Markovian reward, in which high-level knowledge of the task in the form of reward machines is available to the learner. We consider probabilistic reward machines with…

Detecting and handling misspecified objectives, such as reward functions, has been widely recognized as one of the central challenges within the domain of Artificial Intelligence (AI) safety research. However, even with the recognition of…

Autonomous agents must often deal with conflicting requirements, such as completing tasks using the least amount of time/energy, learning multiple tasks, or dealing with multiple opponents. In the context of reinforcement learning~(RL),…

Perception components in autonomous systems are often developed and optimized independently of downstream decision-making and control components, relying on established performance metrics like accuracy, precision, and recall. Traditional…

Reinforcement learning provides an automated framework for learning behaviors from high-level reward specifications, but in practice the choice of reward function can be crucial for good results -- while in principle the reward only needs…

Recent advancements in large language models (LLMs) have shifted the post-training paradigm from traditional instruction tuning and human preference alignment toward reinforcement learning (RL) focused on reasoning capabilities. However,…

Practical uses of Artificial Intelligence (AI) in the real world have demonstrated the importance of embedding moral choices into intelligent agents. They have also highlighted that defining top-down ethical constraints on AI according to…

Robustness to noise is of utmost importance in reinforcement learning systems, particularly in military contexts where high stakes and uncertain environments prevail. Noise and uncertainty are inherent features of military operations,…

Nowadays, rating systems play a crucial role in the attraction of customers for different services. However, as it is difficult to detect a fake rating, attackers can potentially impact the rating's aggregated score unfairly. This malicious…

We investigate what specific design choices enable successful online reinforcement learning (RL) on physical robots. Across 100 real-world training runs on three distinct robotic platforms, we systematically ablate algorithmic, systems, and…

Reward design plays a pivotal role in aligning large language models (LLMs) with human values, serving as the bridge between feedback signals and model optimization. This survey provides a structured organization of reward modeling and…

In this work, we propose a self-improving artificial intelligence system to enhance the safety performance of reinforcement learning (RL)-based autonomous driving (AD) agents using black-box verification methods. RL algorithms have become…