Fast Adaptation with Behavioral Foundation Models

Unsupervised zero-shot reinforcement learning (RL) has emerged as a powerful paradigm for pretraining behavioral foundation models (BFMs), enabling agents to solve a wide range of downstream tasks specified via reward functions in a zero-shot fashion, i.e., without additional test-time learning or planning. This is achieved by learning self-supervised task embeddings alongside corresponding near-optimal behaviors and incorporating an inference procedure to directly retrieve the latent task embedding and associated policy for any given reward function. Despite promising results, zero-shot policies are often suboptimal due to errors induced by the unsupervised training process, the embedding, and the inference procedure. In this paper, we focus on devising fast adaptation strategies to improve the zero-shot performance of BFMs in a few steps of online interaction with the environment while avoiding any performance drop during the adaptation process. Notably, we demonstrate that existing BFMs learn a set of skills containing more performant policies than those identified by their inference procedure, making them well-suited for fast adaptation. Motivated by this observation, we propose both actor-critic and actor-only fast adaptation strategies that search in the low-dimensional task-embedding space of the pre-trained BFM to rapidly improve the performance of its zero-shot policies on any downstream task. Notably, our approach mitigates the initial "unlearning" phase commonly observed when fine-tuning pre-trained RL models. We evaluate our fast adaptation strategies on top of four state-of-the-art zero-shot RL methods in multiple navigation and locomotion domains. Our results show that they achieve 10-40% improvement over their zero-shot performance in a few tens of episodes, outperforming existing baselines.

Information-Theoretic Reward Decomposition for Generalizable RLHF

A generalizable reward model is crucial in Reinforcement Learning from Human Feedback (RLHF) as it enables correctly evaluating unseen prompt-response pairs. However, existing reward models lack this ability, as they are typically trained by increasing the reward gap between chosen and rejected responses, while overlooking the prompts that the responses are conditioned on. Consequently, when the trained reward model is evaluated on prompt-response pairs that lie outside the data distribution, neglecting the effect of prompts may result in poor generalization of the reward model. To address this issue, we decompose the reward value into two independent components: prompt-free reward and prompt-related reward. Prompt-free reward represents the evaluation that is determined only by responses, while the prompt-related reward reflects the reward that derives from both the prompt and the response. We extract these two components from an information-theoretic perspective, which requires no extra models. Subsequently, we propose a new reward learning algorithm by prioritizing data samples based on their prompt-free reward values. Through toy examples, we demonstrate that the extracted prompt-free and prompt-related rewards effectively characterize two parts of the reward model. Further, standard evaluations show that our method improves both the alignment performance and the generalization capability of the reward model.

Offline Action-Free Learning of Ex-BMDPs by Comparing Diverse Datasets

While sequential decision-making environments often involve high-dimensional observations, not all features of these observations are relevant for control. In particular, the observation space may capture factors of the environment which are not controllable by the agent, but which add complexity to the observation space. The need to ignore these "noise" features in order to operate in a tractably-small state space poses a challenge for efficient policy learning. Due to the abundance of video data available in many such environments, task-independent representation learning from action-free offline data offers an attractive solution. However, recent work has highlighted theoretical limitations in action-free learning under the Exogenous Block MDP (Ex-BMDP) model, where temporally-correlated noise features are present in the observations. To address these limitations, we identify a realistic setting where representation learning in Ex-BMDPs becomes tractable: when action-free video data from multiple agents with differing policies are available. Concretely, this paper introduces CRAFT (Comparison-based Representations from Action-Free Trajectories), a sample-efficient algorithm leveraging differences in controllable feature dynamics across agents to learn representations. We provide theoretical guarantees for CRAFT's performance and demonstrate its feasibility on a toy example, offering a foundation for practical methods in similar settings.

CREStE: Scalable Mapless Navigation with Internet Scale Priors and Counterfactual Guidance

We address the long-horizon mapless navigation problem: enabling robots to traverse novel environments without relying on high-definition maps or precise waypoints that specify exactly where to navigate. Achieving this requires overcoming two major challenges -- learning robust, generalizable perceptual representations of the environment without pre-enumerating all possible navigation factors and forms of perceptual aliasing and utilizing these learned representations to plan human-aligned navigation paths. Existing solutions struggle to generalize due to their reliance on hand-curated object lists that overlook unforeseen factors, end-to-end learning of navigation features from scarce large-scale robot datasets, and handcrafted reward functions that scale poorly to diverse scenarios. To overcome these limitations, we propose CREStE, the first method that learns representations and rewards for addressing the full mapless navigation problem without relying on large-scale robot datasets or manually curated features. CREStE leverages visual foundation models trained on internet-scale data to learn continuous bird's-eye-view representations capturing elevation, semantics, and instance-level features. To utilize learned representations for planning, we propose a counterfactual-based loss and active learning procedure that focuses on the most salient perceptual cues by querying humans for counterfactual trajectory annotations in challenging scenes. We evaluate CREStE in kilometer-scale navigation tasks across six distinct urban environments. CREStE significantly outperforms all state-of-the-art approaches with 70% fewer human interventions per mission, including a 2-kilometer mission in an unseen environment with just 1 intervention; showcasing its robustness and effectiveness for long-horizon mapless navigation. For videos and additional materials, see https://amrl.cs.utexas.edu/creste .

Reevaluating Policy Gradient Methods for Imperfect-Information Games

In the past decade, motivated by the putative failure of naive self-play deep reinforcement learning (DRL) in adversarial imperfect-information games, researchers have developed numerous DRL algorithms based on fictitious play (FP), double oracle (DO), and counterfactual regret minimization (CFR). In light of recent results of the magnetic mirror descent algorithm, we hypothesize that simpler generic policy gradient methods like PPO are competitive with or superior to these FP, DO, and CFR-based DRL approaches. To facilitate the resolution of this hypothesis, we implement and release the first broadly accessible exact exploitability computations for four large games. Using these games, we conduct the largest-ever exploitability comparison of DRL algorithms for imperfect-information games. Over 5600 training runs, FP, DO, and CFR-based approaches fail to outperform generic policy gradient methods. Code is available at https://github.com/nathanlct/IIG-RL-Benchmark and https://github.com/gabrfarina/exp-a-spiel .

Augmented Conditioning Is Enough For Effective Training Image Generation

Image generation abilities of text-to-image diffusion models have significantly advanced, yielding highly photo-realistic images from descriptive text and increasing the viability of leveraging synthetic images to train computer vision models. To serve as effective training data, generated images must be highly realistic while also sufficiently diverse within the support of the target data distribution. Yet, state-of-the-art conditional image generation models have been primarily optimized for creative applications, prioritizing image realism and prompt adherence over conditional diversity. In this paper, we investigate how to improve the diversity of generated images with the goal of increasing their effectiveness to train downstream image classification models, without fine-tuning the image generation model. We find that conditioning the generation process on an augmented real image and text prompt produces generations that serve as effective synthetic datasets for downstream training. Conditioning on real training images contextualizes the generation process to produce images that are in-domain with the real image distribution, while data augmentations introduce visual diversity that improves the performance of the downstream classifier. We validate augmentation-conditioning on a total of five established long-tail and few-shot image classification benchmarks and show that leveraging augmentations to condition the generation process results in consistent improvements over the state-of-the-art on the long-tailed benchmark and remarkable gains in extreme few-shot regimes of the remaining four benchmarks. These results constitute an important step towards effectively leveraging synthetic data for downstream training.

Towards General-Purpose Model-Free Reinforcement Learning

Reinforcement learning (RL) promises a framework for near-universal problem-solving. In practice however, RL algorithms are often tailored to specific benchmarks, relying on carefully tuned hyperparameters and algorithmic choices. Recently, powerful model-based RL methods have shown impressive general results across benchmarks but come at the cost of increased complexity and slow run times, limiting their broader applicability. In this paper, we attempt to find a unifying model-free deep RL algorithm that can address a diverse class of domains and problem settings. To achieve this, we leverage model-based representations that approximately linearize the value function, taking advantage of the denser task objectives used by model-based RL while avoiding the costs associated with planning or simulated trajectories. We evaluate our algorithm, MR.Q, on a variety of common RL benchmarks with a single set of hyperparameters and show a competitive performance against domain-specific and general baselines, providing a concrete step towards building general-purpose model-free deep RL algorithms.

EC-Diffuser: Multi-Object Manipulation via Entity-Centric Behavior Generation

Object manipulation is a common component of everyday tasks, but learning to manipulate objects from high-dimensional observations presents significant challenges. These challenges are heightened in multi-object environments due to the combinatorial complexity of the state space as well as of the desired behaviors. While recent approaches have utilized large-scale offline data to train models from pixel observations, achieving performance gains through scaling, these methods struggle with compositional generalization in unseen object configurations with constrained network and dataset sizes. To address these issues, we propose a novel behavioral cloning (BC) approach that leverages object-centric representations and an entity-centric Transformer with diffusion-based optimization, enabling efficient learning from offline image data. Our method first decomposes observations into an object-centric representation, which is then processed by our entity-centric Transformer that computes attention at the object level, simultaneously predicting object dynamics and the agent's actions. Combined with the ability of diffusion models to capture multi-modal behavior distributions, this results in substantial performance improvements in multi-object tasks and, more importantly, enables compositional generalization. We present BC agents capable of zero-shot generalization to tasks with novel compositions of objects and goals, including larger numbers of objects than seen during training. We provide video rollouts on our webpage: https://sites.google.com/view/ec-diffuser.

AI and the Future of Digital Public Squares

Two substantial technological advances have reshaped the public square in recent decades: first with the advent of the internet and second with the recent introduction of large language models (LLMs). LLMs offer opportunities for a paradigm shift towards more decentralized, participatory online spaces that can be used to facilitate deliberative dialogues at scale, but also create risks of exacerbating societal schisms. Here, we explore four applications of LLMs to improve digital public squares: collective dialogue systems, bridging systems, community moderation, and proof-of-humanity systems. Building on the input from over 70 civil society experts and technologists, we argue that LLMs both afford promising opportunities to shift the paradigm for conversations at scale and pose distinct risks for digital public squares. We lay out an agenda for future research and investments in AI that will strengthen digital public squares and safeguard against potential misuses of AI.

MaestroMotif: Skill Design from Artificial Intelligence Feedback

Describing skills in natural language has the potential to provide an accessible way to inject human knowledge about decision-making into an AI system. We present MaestroMotif, a method for AI-assisted skill design, which yields high-performing and adaptable agents. MaestroMotif leverages the capabilities of Large Language Models (LLMs) to effectively create and reuse skills. It first uses an LLM's feedback to automatically design rewards corresponding to each skill, starting from their natural language description. Then, it employs an LLM's code generation abilities, together with reinforcement learning, for training the skills and combining them to implement complex behaviors specified in language. We evaluate MaestroMotif using a suite of complex tasks in the NetHack Learning Environment (NLE), demonstrating that it surpasses existing approaches in both performance and usability.