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cs.LG2025
HEAL: An Empirical Study on Hallucinations in Embodied Agents Driven by Large Language Models
Trishna Chakraborty, Udita Ghosh, Xiaopan Zhang +5
Large language models (LLMs) are increasingly being adopted as the cognitive core of embodied agents. However, inherited hallucinations, which stem from failures to ground user ins…
cs.LG2025
Preference VLM: Leveraging VLMs for Scalable Preference-Based Reinforcement Learning
Udita Ghosh, Dripta S. Raychaudhuri, Jiachen Li +2
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 thi…
cs.LG2024
Robust Offline Imitation Learning from Diverse Auxiliary Data
Udita Ghosh, Dripta S. Raychaudhuri, Jiachen Li +2
Offline imitation learning enables learning a policy solely from a set of expert demonstrations, without any environment interaction. To alleviate the issue of distribution shift a…