相关论文: VARP: Reinforcement Learning from Vision-Language …

Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervision, and safety risks. Action-conditioned video world…

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 an effective approach to aligning large language models (LLMs) to human preferences. RLHF contains three steps, i.e., human preference collecting, reward learning, and policy…

When operating in service of people, robots need to optimize rewards aligned with end-user preferences. Since robots will rely on raw perceptual inputs like RGB images, their rewards will inevitably use visual representations. Recently…

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…

Large Vision-Language Models (LVLMs) have recently advanced robotic manipulation by leveraging vision for scene perception and language for instruction following. However, existing methods rely heavily on costly human-annotated training…

One of the key challenges in current Reinforcement Learning (RL)-based Automated Driving (AD) agents is achieving flexible, precise, and human-like behavior cost-effectively. This paper introduces an innovative approach that uses large…

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…

Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety-critical scenarios, where collecting online data or expert…

Personalizing large language models (LLMs) to accommodate diverse user preferences is essential for enhancing alignment and user satisfaction. Traditional reinforcement learning from human feedback (RLHF) approaches often rely on monolithic…

Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits the scalability and automation of reinforcement learning.…

Reinforcement learning from human feedback (RLHF) aligns large language models (LLMs) by encouraging their generations to have high rewards, using a reward model trained on human preferences. To prevent the forgetting of pre-trained…

Designing reward functions for efficiently guiding reinforcement learning (RL) agents toward specific behaviors is a complex task. This is challenging since it requires the identification of reward structures that are not sparse and that…

Training robust and generalizable reward models for human visual preferences is essential for aligning text-to-image and text-to-video generative models with human intent. However, current reward models often fail to generalize, and…

Reinforcement learning (RL) requires either manually specifying a reward function, which is often infeasible, or learning a reward model from a large amount of human feedback, which is often very expensive. We study a more sample-efficient…

Reinforcement Learning has suffered from poor reward specification, and issues for reward hacking even in simple enough domains. Preference Based Reinforcement Learning attempts to solve the issue by utilizing binary feedbacks on queried…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

Reinforcement learning based fine-tuning of large language models (LLMs) on human preferences has been shown to enhance both their capabilities and safety behavior. However, in cases related to safety, without precise instructions to human…

Building generalist agents that can accomplish many goals in rich open-ended environments is one of the research frontiers for reinforcement learning. A key limiting factor for building generalist agents with RL has been the need for a…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…