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Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…

Recently, tremendous strides have been made to align the generation of Large Language Models (LLMs) with human values to mitigate toxic or unhelpful content. Leveraging Reinforcement Learning from Human Feedback (RLHF) proves effective and…

Preference-based reinforcement learning (RL) has emerged as a new field in robot learning, where humans play a pivotal role in shaping robot behavior by expressing preferences on different sequences of state-action pairs. However,…

Autonomous vehicles (AVs) are on the road. To safely and efficiently interact with other road participants, AVs have to accurately predict the behavior of surrounding vehicles and plan accordingly. Such prediction should be probabilistic,…

Reinforcement Learning (RL) has made promising progress in planning and decision-making for Autonomous Vehicles (AVs) in simple driving scenarios. However, existing RL algorithms for AVs fail to learn critical driving skills in complex…

Reinforcement Learning from Human Feedback (RLHF) effectively aligns Large Language Models (LLMs) with aggregate human preferences but often fails to address the diverse and conflicting needs of individual users. To overcome this issue, we…

Human-in-the-loop guidance has emerged as an effective approach for enabling faster convergence in online reinforcement learning (RL) of complex real-world manipulation tasks. However, existing human-in-the-loop RL (HiL-RL) frameworks often…

Inverse Reinforcement Learning (IRL) presents a powerful paradigm for learning complex robotic tasks from human demonstrations. However, most approaches make the assumption that expert demonstrations are available, which is often not the…

Reinforcement Learning from Human Feedback (RLHF) is commonly employed to tailor models to human preferences, especially to improve the safety of outputs from large language models (LLMs). Traditionally, this method depends on selecting…

Aligning robot navigation with human preferences is essential for ensuring comfortable, and predictable robot movement in shared spaces. While preference-based learning methods, such as reinforcement learning from human feedback (RLHF),…

Hierarchical reinforcement learning (HRL) enables agents to solve complex, long-horizon tasks by decomposing them into manageable sub-tasks. However, HRL methods face two fundamental challenges: (i) non-stationarity caused by the evolving…

Two common approaches to sequential decision-making are AI planning (AIP) and reinforcement learning (RL). Each has strengths and weaknesses. AIP is interpretable, easy to integrate with symbolic knowledge, and often efficient, but requires…

The development and deployment of systems using supervised machine learning (ML) remain challenging: mainly due to the limited reliability of prediction models and the lack of knowledge on how to effectively integrate human intelligence…

This work introduces a preference learning method that ensures adherence to given specifications, with an application to autonomous vehicles. Our approach incorporates the priority ordering of Signal Temporal Logic (STL) formulas describing…

Offline reinforcement learning refers to the process of learning policies from fixed datasets, without requiring additional environment interaction. However, it often relies on well-defined reward functions, which are difficult and…

Most Vision-and-Language Navigation (VLN) algorithms are prone to making inaccurate decisions due to their lack of visual common sense and limited reasoning capabilities. To address this issue, we propose a Hierarchical Spatial Proximity…

We approach the problem of learning by watching humans in the wild. While traditional approaches in Imitation and Reinforcement Learning are promising for learning in the real world, they are either sample inefficient or are constrained to…

To improve human-preference alignment training, current research has developed numerous preference datasets consisting of preference pairs labeled as "preferred" or "dispreferred". These preference pairs are typically used to encode human…

We propose a method to capture the handling abilities of fast jet pilots in a software model via reinforcement learning (RL) from human preference feedback. We use pairwise preferences over simulated flight trajectories to learn an…

Combining deep neural networks with reinforcement learning has shown great potential in the next-generation intelligent control. However, there are challenges in terms of safety and cost in practical applications. In this paper, we propose…