相关论文: Approximated Variational Bayesian Inverse Reinforc…

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…

Reinforcement Learning (RL) plays an important role in the robotic manipulation domain since it allows self-learning from trial-and-error interactions with the environment. Still, sample efficiency and reward specification seriously limit…

Many imitation learning (IL) algorithms employ inverse reinforcement learning (IRL) to infer the intrinsic reward function that an expert is implicitly optimizing for based on their demonstrated behaviors. However, in practice, IRL-based IL…

Large vision-language models (LVLMs) often fail to align with human preferences, leading to issues like generating misleading content without proper visual context (also known as hallucination). A promising solution to this problem is using…

Fine-tuning large language models (LLMs) with low-rank adaptation (LoRA) is a cost-effective way to incorporate information from a specific dataset. However, when a problem requires incorporating information from multiple datasets - as in…

Large Language Models (LLMs) have demonstrated impressive capabilities in natural language tasks, but their safety and morality remain contentious due to their training on internet text corpora. To address these concerns, alignment…

Inverse Reinforcement Learning (IRL) is the problem of finding a reward function which describes observed/known expert behavior. The IRL setting is remarkably useful for automated control, in situations where the reward function is…

Preference-based Reinforcement Learning (PbRL) is a paradigm in which an RL agent learns to optimize a task using pair-wise preference-based feedback over trajectories, rather than explicit reward signals. While PbRL has demonstrated…

Robots can adapt to user preferences by learning reward functions from demonstrations, but with limited data, reward models often overfit to spurious correlations and fail to generalize. This happens because demonstrations show robots how…

Reinforcement Learning (RL) in games has gained significant momentum in recent years, enabling the creation of different agent behaviors that can transform a player's gaming experience. However, deploying RL agents in production…

Reinforcement Learning from Human Feedback relies on reward models to align large language models with human preferences. However, RLHF often suffers from reward hacking, wherein policy learning exploits flaws in the trained reward model to…

Our goal is for agents to optimize the right reward function, despite how difficult it is for us to specify what that is. Inverse Reinforcement Learning (IRL) enables us to infer reward functions from demonstrations, but it usually assumes…

Our goal is for AI systems to correctly identify and act according to their human user's objectives. Cooperative Inverse Reinforcement Learning (CIRL) formalizes this value alignment problem as a two-player game between a human and robot,…

Bayesian reinforcement learning (BRL) offers a decision-theoretic solution for reinforcement learning. While "model-based" BRL algorithms have focused either on maintaining a posterior distribution on models or value functions and combining…

Reinforcement Learning from Human Feedback (RLHF) is crucial for aligning Large Language Models (LLMs) with human values. However, RLHF has been continuously challenged by its high complexity in implementation and computation consumption,…

In recent years, training methods centered on Reinforcement Learning (RL) have markedly enhanced the reasoning and alignment performance of Large Language Models (LLMs), particularly in understanding human intents, following user…

Reinforcement Learning from Human Feedback (RLHF) or Verifiable Rewards (RLVR) are two key steps in the post-training of modern Language Models (LMs). A common problem is reward hacking, where the policy may exploit inaccuracies of the…

Large Language Models (LLMs) have achieved remarkable advancements in reasoning capabilities empowered by Reinforcement Learning with Verifiable Rewards (RLVR). Nonetheless, RLVR intrinsically relies on ground-truth labels for reward…

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…

We present LARL-RM (Large language model-generated Automaton for Reinforcement Learning with Reward Machine) algorithm in order to encode high-level knowledge into reinforcement learning using automaton to expedite the reinforcement…