8 papers
MARBLE: Multi-Aspect Reward Balance for Diffusion RL
Canyu Zhao, Hao Chen, Yunze Tong +3
Reinforcement learning fine-tuning has become the dominant approach for aligning diffusion models with human preferences. However, assessing images is intrinsically a multi-dimensi…
Toward Autonomous Laboratory Safety Monitoring with Vision Language Models: Learning to See Hazards Through Scene Structure
Trishna Chakraborty, Udita Ghosh, Aldair Ernesto Gongora +5
Laboratories are prone to severe injuries from minor unsafe actions, yet continuous safety monitoring -- beyond mandatory pre-lab safety training -- is limited by human availabilit…
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…
Uncertainty-Aware Diffusion Guided Refinement of 3D Scenes
Sarosij Bose, Arindam Dutta, Sayak Nag +4
Reconstructing 3D scenes from a single image is a fundamentally ill-posed task due to the severely under-constrained nature of the problem. Consequently, when the scene is rendered…
Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handling
Jianpeng Yao, Xiaopan Zhang, Yu Xia +3
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that b…
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…