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Autonomous vehicles must remain safe and effective when encountering rare long-tailed scenarios or cyber-physical intrusions during driving. We present RAIL, a risk-aware human-in-the-loop framework that turns heterogeneous runtime signals…

Adversarial Inverse Reinforcement Learning (AIRL) has shown promise in addressing the sparse reward problem in reinforcement learning (RL) by inferring dense reward functions from expert demonstrations. However, its performance in highly…

As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…

The rapid growth of the low-altitude economy has driven the widespread adoption of unmanned aerial vehicles (UAVs). This growing deployment presents new challenges for UAV trajectory planning in complex urban environments. However, existing…

Navigating urban intersections, especially when interacting with heterogeneous traffic participants, presents a formidable challenge for autonomous vehicles (AVs). In such environments, safety risks arise simultaneously from multiple…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

Autonomous underwater vehicle (AUV) plays an increasingly important role in ocean exploration. Existing AUVs are usually not fully autonomous and generally limited to pre-planning or pre-programming tasks. Reinforcement learning (RL) and…

An appropriate reward function is of paramount importance in specifying a task in reinforcement learning (RL). Yet, it is known to be extremely challenging in practice to design a correct reward function for even simple tasks.…

We study a networked multi-agent reinforcement learning (NMARL) problem with human feedback in an infinite-horizon setting, where agents interact over an underlying network with localized state dependencies and aim to collaboratively…

Preference-based reinforcement learning (RL) offers a promising approach for aligning policies with human intent but is often constrained by the high cost of human feedback. In this work, we introduce PrefVLM, a framework that integrates…

In this work, we introduce PIPER: Primitive-Informed Preference-based Hierarchical reinforcement learning via Hindsight Relabeling, a novel approach that leverages preference-based learning to learn a reward model, and subsequently uses…

Reinforcement Learning from Human Feedback (RLHF) is a powerful paradigm for aligning foundation models to human values and preferences. However, current RLHF techniques cannot account for the naturally occurring differences in individual…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

Reinforcement learning (RL) agents optimize only the features specified in a reward function and are indifferent to anything left out inadvertently. This means that we must not only specify what to do, but also the much larger space of what…

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…

Reinforcement Learning from Human Feedback (RLHF) has recently surged in popularity, particularly for aligning large language models and other AI systems with human intentions. At its core, RLHF can be viewed as a specialized instance of…

Lifelong Multi-Agent Path Finding (MAPF) is critical for modern warehouse automation, which requires multiple robots to continuously navigate conflict-free paths to optimize the overall system throughput. However, the complexity of…

Reinforcement Learning from Human Feedback (RLHF) is a key method for aligning large language models (LLMs) with human preferences. However, current offline alignment approaches like DPO, IPO, and SLiC rely heavily on fixed preference…

In Reinforcement Learning (RL), agents have no incentive to exhibit predictable behaviors, and are often pushed (through e.g. policy entropy regularisation) to randomise their actions in favor of exploration. This often makes it challenging…

Human drivers exhibit individual preferences regarding driving style. Adapting autonomous vehicles to these preferences is essential for user trust and satisfaction. However, existing end-to-end driving approaches often rely on predefined…