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While reinforcement learning (RL) has achieved notable success in various domains, training effective policies for complex tasks remains challenging. Agents often converge to local optima and fail to maximize long-term rewards. Existing…

Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated…

Assistive agents should not only take actions on behalf of a human, but also step out of the way and cede control when there are important decisions to be made. However, current methods for building assistive agents, whether via mimicking…

Reinforcement learning (RL) has demonstrated potential in enhancing the reasoning capabilities of large language models (LLMs), but such training typically demands substantial efforts in creating and annotating data. In this work, we…

In this work, we propose several online methods to build a \emph{learning curriculum} from a given set of target-task-specific training tasks in order to speed up reinforcement learning (RL). These methods can decrease the total training…

Reinforcement learning (RL) is central to improving reasoning in large language models (LLMs) but typically requires ground-truth rewards. Test-Time Reinforcement Learning (TTRL) removes this need by using majority-vote rewards, but relies…

Learning effective policies for real-world problems is still an open challenge for the field of reinforcement learning (RL). The main limitation being the amount of data needed and the pace at which that data can be obtained. In this paper,…

Tactile information is important for robust performance in robotic tasks that involve physical interaction, such as object manipulation. However, with more data included in the reasoning and control process, modeling behavior becomes…

Instruction-based Large Language Models (LLMs) have proven effective in numerous few-shot or zero-shot Natural Language Processing (NLP) tasks. However, creating human-annotated instruction data is time-consuming, expensive, and often…

Augmenting large language models (LLMs) with external tools has emerged as a promising approach to extend their utility, enabling them to solve practical tasks. Previous methods manually parse tool documentation and create in-context…

Ensembling large language models (LLMs) can effectively combine diverse strengths of different models, offering a promising approach to enhance performance across various tasks. However, existing methods typically rely on fixed weighting…

Developing autonomous agents capable of performing complex, multi-step decision-making tasks specified in natural language remains a significant challenge, particularly in realistic settings where labeled data is scarce and real-time…

The recent development of zero-shot reinforcement learning (RL) has opened a new avenue for learning pre-trained generalist policies that can adapt to arbitrary new tasks in a zero-shot manner. While the popular Forward-Backward…

We introduce Learning to Self-Evolve (LSE), a reinforcement learning framework that trains large language models (LLMs) to improve their own contexts at test time. We situate LSE in the setting of test-time self-evolution, where a model…

Tool-use language agents are evaluated on benchmarks that assume clean inputs, unambiguous tool registries, and reliable APIs. Real deployments violate all these assumptions: user typos propagate into hallucinated tool names, a…

Skills learned through (deep) reinforcement learning often generalizes poorly across domains and re-training is necessary when presented with a new task. We present a framework that combines techniques in \textit{formal methods} with…

Distilling the tool-using capabilities of large language models (LLMs) into smaller, more efficient small language models (SLMs) is a key challenge for their practical application. The predominant approach, supervised fine-tuning (SFT),…

Reinforcement Learning (RL)-based recommender systems have demonstrated promising performance in meeting user expectations by learning to make accurate next-item recommendations from historical user-item interactions. However, existing…

We investigate the task of learning to follow natural language instructions by jointly reasoning with visual observations and language inputs. In contrast to existing methods which start with learning from demonstrations (LfD) and then use…

Reinforcement Learning (RL) has made significant strides in enabling artificial agents to learn diverse behaviors. However, learning an effective policy often requires a large number of environment interactions. To mitigate sample…