相关论文: A Safe Preference Learning Approach for Personaliz…

Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…

Machine teaching is an algorithmic framework for teaching a target hypothesis via a sequence of examples or demonstrations. We investigate machine teaching for temporal logic formulas -- a novel and expressive hypothesis class amenable to…

Enhancing the conformity of large language models (LLMs) to human preferences remains an ongoing research challenge. Recently, offline approaches such as Direct Preference Optimization (DPO) have gained prominence as attractive options due…

Alignment, endowing a pre-trained Large language model (LLM) with the ability to follow instructions, is crucial for its real-world applications. Conventional supervised fine-tuning (SFT) methods formalize it as causal language modeling…

To develop driving automation technologies for human, a human-centered methodology should be adopted for ensured safety and satisfactory user experience. Automated lane change decision in dense highway traffic is challenging, especially…

The complexity of designing reward functions has been a major obstacle to the wide application of deep reinforcement learning (RL) techniques. Describing an agent's desired behaviors and properties can be difficult, even for experts. A new…

Reinforcement Learning from Human Feedback (RLHF) has emerged as a powerful approach for aligning generative models, but its reliance on learned reward models makes it vulnerable to mis-specification and reward hacking. Preference-based…

Self-paced learning (SPL) mimics the cognitive process of humans, who generally learn from easy samples to hard ones. One key issue in SPL is the training process required for each instance weight depends on the other samples and thus…

We propose a variant of the Rapidly Exploring Random Tree Star (RRT$^{\star}$) algorithm to synthesize trajectories satisfying a given spatio-temporal specification expressed in a fragment of Signal Temporal Logic (STL) for linear systems.…

Self-paced learning (SPL) is a recently raised methodology designed through simulating the learning principle of humans/animals. A variety of SPL realization schemes have been designed for different computer vision and pattern recognition…

Self-driving cars require extensive testing, which can be costly in terms of time. To optimize this process, simple and straightforward tests should be excluded, focusing on challenging tests instead. This study addresses the test selection…

Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision-making…

Large language models (LLMs) demonstrate impressive performance but lack the flexibility to adapt to human preferences quickly without retraining. In this work, we introduce Test-time Preference Optimization (TPO), a framework that aligns…

We introduce Large Language Model-Assisted Preference Prediction (LAPP), a novel framework for robot learning that enables efficient, customizable, and expressive behavior acquisition with minimum human effort. Unlike prior approaches that…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

To design rewards that align with human goals, Reinforcement Learning from Human Feedback (RLHF) has emerged as a prominent technique for learning reward functions from human preferences and optimizing policies via reinforcement learning…

To design effective digital interventions, experimenters face the challenge of learning decision policies that balance multiple objectives using offline data. Often, they aim to develop policies that maximize goal outcomes, while ensuring…

Signal temporal logic (STL) is a powerful tool for describing complex behaviors for dynamical systems. Among many approaches, the control problem for systems under STL task constraints is well suited for learning-based solutions, because…

User preference learning is generally a hard problem. Individual preferences are typically unknown even to users themselves, while the space of choices is infinite. Here we study user preference learning from information-theoretic…

Preference-based Reinforcement Learning (PbRL) entails a variety of approaches for aligning models with human intent to alleviate the burden of reward engineering. However, most previous PbRL work has not investigated the robustness to…