127 citations · 236 across the 17 of their papers we have counts for
18 papers
Implicit Virtual Leader: Decentralized Vision-Only Relative Pose Estimation for Multi-Robot Formations
Shiyuan Yang, Zelin Wang, Zhijia Tao +8
Classical leader-follower formation control suffers from single points of failure and error propagation, and relies on absolute localization sensors that are ill-suited for GPS-den…
FabriVLA: A Lightweight Vision-Language-Action Model with Conformal Action Chunk Uncertainty
Shiyuan Yang, Borong Zhang, Jizheng Zhang +5
Vision-Language-Action (VLA) models have become a leading paradigm for general purpose robotic manipulation, but their computational cost and limited uncertainty awareness hinder p…
EDT: Efficient and Effective Decision Transformer with Experience-Aware Sampling for Robotic Manipulation
Kaiyan Zhao, Borong Zhang, Yiming Wang +4
In reinforcement learning (RL) for robotic manipulation, the Decision Transformer (DT) has emerged as an effective framework for addressing long-horizon tasks. However, DT's perfor…
RedVLA: Physical Red Teaming for Vision-Language-Action Models
Yuhao Zhang, Borong Zhang, Jiaming Fan +4
The real-world deployment of Vision-Language-Action (VLA) models remains limited by the risk of unpredictable and irreversible physical harm. However, we currently lack effective m…
120 Minutes and a Laptop: Minimalist Image-goal Navigation via Unsupervised Exploration and Offline RL
Xiaoming Liu, Borong Zhang, Qingbiao Li +1
The prevailing paradigm for image-goal visual navigation often assumes access to large-scale datasets, substantial pretraining, and significant computational resources. In this wor…
AI Deception: Risks, Dynamics, and Controls
Boyuan Chen, Sitong Fang, Jiaming Ji +56
As intelligence increases, so does its shadow. AI deception, in which systems induce false beliefs to secure self-beneficial outcomes, has evolved from a speculative concern to an…
VLA-Arena: An Open-Source Framework for Benchmarking Vision-Language-Action Models
Borong Zhang, Jiahao Li, Jiachen Shen +8
While Vision-Language-Action models (VLAs) are rapidly advancing toward generalist robot policies, quantitatively characterizing their capability boundaries and failure modes remai…
A Good Plan is Hard to Find: Aligning Models with Preferences is Misaligned with What Helps Users
Nishant Balepur, Matthew Shu, Yoo Yeon Sung +5
To assist users in complex tasks, LLMs generate plans: step-by-step instructions towards a goal. While alignment methods aim to ensure LLM plans are helpful, they train (RLHF) or e…
RAG LLMs are Not Safer: A Safety Analysis of Retrieval-Augmented Generation for Large Language Models
Bang An, Shiyue Zhang, Mark Dredze
Efforts to ensure the safety of large language models (LLMs) include safety fine-tuning, evaluation, and red teaming. However, despite the widespread use of the Retrieval-Augmented…
SafeVLA: Towards Safety Alignment of Vision-Language-Action Model via Constrained Learning
Borong Zhang, Yuhao Zhang, Jiaming Ji +5
Vision-language-action models (VLAs) show potential as generalist robot policies. However, these models pose extreme safety challenges during real-world deployment, including the r…
Investigating Memory in Model-Free RL with POPGym Arcade
Zekang Wang, Zhe He, Borong Zhang +2
How should we analyze memory in deep RL? We introduce tools for analyzing policies under partial observability and revealing how agents use memory to make decisions. To utilize the…
PKU-SafeRLHF: Towards Multi-Level Safety Alignment for LLMs with Human Preference
Jiaming Ji, Donghai Hong, Borong Zhang +10
In this study, we introduce the safety human preference dataset, PKU-SafeRLHF, designed to promote research on safety alignment in large language models (LLMs). As a sibling projec…
Aligner: Efficient Alignment by Learning to Correct
Jiaming Ji, Boyuan Chen, Hantao Lou +6
With the rapid development of large language models (LLMs) and ever-evolving practical requirements, finding an efficient and effective alignment method has never been more critica…
AI Alignment: A Comprehensive Survey
Jiaming Ji, Tianyi Qiu, Boyuan Chen +23
AI alignment aims to make AI systems behave in line with human intentions and values. As AI systems grow more capable, so do risks from misalignment. To provide a comprehensive and…
Safety-Gymnasium: A Unified Safe Reinforcement Learning Benchmark
Jiaming Ji, Borong Zhang, Jiayi Zhou +7
Artificial intelligence (AI) systems possess significant potential to drive societal progress. However, their deployment often faces obstacles due to substantial safety concerns. S…
Baichuan 2: Open Large-scale Language Models
Aiyuan Yang, Bin Xiao, Bingning Wang +52
Large language models (LLMs) have demonstrated remarkable performance on a variety of natural language tasks based on just a few examples of natural language instructions, reducing…
SafeDreamer: Safe Reinforcement Learning with World Models
Weidong Huang, Jiaming Ji, Chunhe Xia +2
The deployment of Reinforcement Learning (RL) in real-world applications is constrained by its failure to satisfy safety criteria. Existing Safe Reinforcement Learning (SafeRL) met…
OmniSafe: An Infrastructure for Accelerating Safe Reinforcement Learning Research
Jiaming Ji, Jiayi Zhou, Borong Zhang +7
AI systems empowered by reinforcement learning (RL) algorithms harbor the immense potential to catalyze societal advancement, yet their deployment is often impeded by significant s…