相关论文: QuickLAP: Quick Language-Action Preference Learnin…

Language models serve as proxies for human preference judgements in alignment and evaluation, yet they exhibit systematic miscalibration, prioritizing superficial patterns over substantive qualities. This bias manifests as overreliance on…

Data generation and labeling are often expensive in robot learning. Preference-based learning is a concept that enables reliable labeling by querying users with preference questions. Active querying methods are commonly employed in…

Robots can learn preferences from human demonstrations, but their success depends on how informative these demonstrations are. Being informative is unfortunately very challenging, because during teaching, people typically get no…

LLMs are often trained with RL from human or AI feedback, yet such methods typically compress nuanced feedback into scalar rewards, discarding much of their richness and inducing scale imbalance. We propose treating verbal feedback as a…

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 study estimation and statistical inference for reward models used in aligning large language models (LLMs). A key component of LLM alignment is reinforcement learning from human feedback (RLHF), where humans compare pairs of…

Interactive Machine Learning is concerned with creating systems that operate in environments alongside humans to achieve a task. A typical use is to extend or amplify the capabilities of a human in cognitive or physical ways, requiring the…

Vision-language models (VLMs) have significantly improved the generalization capabilities of robotic manipulation. However, VLM-based systems often suffer from a lack of robustness, leading to unpredictable errors, particularly in scenarios…

Soft prompt learning has recently emerged as one of the methods of choice for adapting V&L models to a downstream task using a few training examples. However, current methods significantly overfit the training data, suffering from large…

In offline reinforcement learning (RL) agents are trained using a logged dataset. It appears to be the most natural route to attack real-life applications because in domains such as healthcare and robotics interactions with the environment…

Aligning large language models (LLMs) with human intentions has become a critical task for safely deploying models in real-world systems. While existing alignment approaches have seen empirical success, theoretically understanding how these…

Large language models (LLMs) have demonstrated exciting progress in acquiring diverse new capabilities through in-context learning, ranging from logical reasoning to code-writing. Robotics researchers have also explored using LLMs to…

This paper addresses the problem of preference learning, which aims to align robot behaviors through learning user specific preferences (e.g. "good pull-over location") from visual demonstrations. Despite its similarity to learning factual…

Large Language Models (LLMs) excel at producing broadly relevant text, but this generality becomes a limitation when user-specific preferences are required, such as recommending restaurants or planning travel. In these scenarios, users…

Reward models (RMs) are a core component in the post-training of large language models (LLMs), serving as proxies for human preference evaluation and guiding model alignment. However, training reliable RMs under limited resources remains…

Modern AI systems such as self-driving cars and game-playing agents achieve superhuman performance, but often lack human-like generalization, interpretability, and inter-operability with human users. Inspired by the rich interactions…

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…

Equipped with Large Language Models (LLMs), human-centered robots are now capable of performing a wide range of tasks that were previously deemed challenging or unattainable. However, merely completing tasks is insufficient for cognitive…

Strong inductive biases give humans the ability to quickly learn to perform a variety of tasks. Although meta-learning is a method to endow neural networks with useful inductive biases, agents trained by meta-learning may sometimes acquire…

Language-audio joint representation learning frameworks typically depend on deterministic embeddings, assuming a one-to-one correspondence between audio and text. In real-world settings, however, the language-audio relationship is…