7 papers
A Regret Minimization Framework on Preference Learning in Large Language Models
Suhwan Kim, Taehyun Cho, Geon-Hyeong Kim +4
Reinforcement learning with verifiable rewards (RLVR) has enabled progress on reasoning-intensive tasks by relying on task-specific verifiers that provide automated correctness sig…
MVP-LAM: Learning Action-Centric Latent Action via Cross-Viewpoint Reconstruction
Jung Min Lee, Dohyeok Lee, Seokhun Ju +5
Latent actions learned from diverse human videos serve as pseudo-labels for vision-language-action (VLA) pretraining, but provide effective supervision only if they remain informat…
Why Latent Actions Fail, and How to Prevent It
Jung Min Lee, Taehyun Cho, Li Zhao +1
Latent action models (LAMs) aim to learn action-like representations from unlabeled videos by compressing frame-to-frame changes. The frames of in-the-wild videos, however, contain…
Lyapunov-Guided Self-Alignment: Test-Time Adaptation for Offline Safe Reinforcement Learning
Seungyub Han, Hyungjin Kim, Jungwoo Lee
Offline reinforcement learning (RL) agents often fail when deployed, as the gap between training datasets and real environments leads to unsafe behavior. To address this, we presen…
Learning Generalizable Visuomotor Policy through Dynamics-Alignment
Dohyeok Lee, Jung Min Lee, Munkyung Kim +6
Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction…
Policy-labeled Preference Learning: Is Preference Enough for RLHF?
Taehyun Cho, Seokhun Ju, Seungyub Han +3
To design rewards that align with human goals, Reinforcement Learning from Human Feedback (RLHF) has emerged as a prominent technique for learning reward functions from human prefe…