Embodied Red Teaming for Auditing Robotic Foundation Models

Language-conditioned robot models (i.e., robotic foundation models) enable robots to perform a wide range of tasks based on natural language instructions. Despite strong performance on existing benchmarks, evaluating the safety and effectiveness of these models is challenging due to the complexity of testing all possible language variations. Current benchmarks have two key limitations: they rely on a limited set of human-generated instructions, missing many challenging cases, and they focus only on task performance without assessing safety, such as avoiding damage. To address these gaps, we introduce Embodied Red Teaming (ERT), a new evaluation method that generates diverse and challenging instructions to test these models. ERT uses automated red teaming techniques with Vision Language Models (VLMs) to create contextually grounded, difficult instructions. Experimental results show that state-of-the-art models frequently fail or behave unsafely on ERT tests, underscoring the shortcomings of current benchmarks in evaluating real-world performance and safety. Code and videos are available at: https://sites.google.com/view/embodiedredteam.

ImageNet-RIB Benchmark: Large Pre-Training Datasets Don't Guarantee Robustness after Fine-Tuning

Highly performant large-scale pre-trained models promise to also provide a valuable foundation for learning specialized tasks, by fine-tuning the model to the desired task. By starting from a good general-purpose model, the goal is to achieve both specialization in the target task and maintain robustness. To assess the robustness of models to out-of-distribution samples after fine-tuning on downstream datasets, we introduce a new robust fine-tuning benchmark, ImageNet-RIB (Robustness Inheritance Benchmark). The benchmark consists of a set of related but distinct specialized (downstream) tasks; pre-trained models are fine-tuned on one task in the set and their robustness is assessed on the rest, iterating across all tasks for fine-tuning and assessment. We find that the continual learning methods, EWC and LwF maintain robustness after fine-tuning though fine-tuning generally does reduce performance on generalization to related downstream tasks across models. Not surprisingly, models pre-trained on large and rich datasets exhibit higher initial robustness across datasets and suffer more pronounced degradation during fine-tuning. The distance between the pre-training and downstream datasets, measured by optimal transport, predicts this performance degradation on the pre-training dataset. However, counterintuitively, model robustness after fine-tuning on related downstream tasks is the worst when the pre-training dataset is the richest and the most diverse. This suggests that starting with the strongest foundation model is not necessarily the best approach for performance on specialist tasks. The benchmark thus offers key insights for developing more resilient fine-tuning strategies and building robust machine learning models. https://jd730.github.io/projects/ImageNet-RIB

ORSO: Accelerating Reward Design via Online Reward Selection and Policy Optimization

Reward shaping is a critical component in reinforcement learning (RL), particularly for complex tasks where sparse rewards can hinder learning. While shaping rewards have been introduced to provide additional guidance, selecting effective shaping functions remains challenging and computationally expensive. This paper introduces Online Reward Selection and Policy Optimization (ORSO), a novel approach that frames shaping reward selection as an online model selection problem. ORSO employs principled exploration strategies to automatically identify promising shaping reward functions without human intervention, balancing exploration and exploitation with provable regret guarantees. We demonstrate ORSO's effectiveness across various continuous control tasks using the Isaac Gym simulator. Compared to traditional methods that fully evaluate each shaping reward function, ORSO significantly improves sample efficiency, reduces computational time, and consistently identifies high-quality reward functions that produce policies comparable to those generated by domain experts through hand-engineered rewards.

Random Latent Exploration for Deep Reinforcement Learning

The ability to efficiently explore high-dimensional state spaces is essential for the practical success of deep Reinforcement Learning (RL). This paper introduces a new exploration technique called Random Latent Exploration (RLE), that combines the strengths of bonus-based and noise-based (two popular approaches for effective exploration in deep RL) exploration strategies. RLE leverages the idea of perturbing rewards by adding structured random rewards to the original task rewards in certain (random) states of the environment, to encourage the agent to explore the environment during training. RLE is straightforward to implement and performs well in practice. To demonstrate the practical effectiveness of RLE, we evaluate it on the challenging Atari and IsaacGym benchmarks and show that RLE exhibits higher overall scores across all the tasks than other approaches.

ROER: Regularized Optimal Experience Replay

Experience replay serves as a key component in the success of online reinforcement learning (RL). Prioritized experience replay (PER) reweights experiences by the temporal difference (TD) error empirically enhancing the performance. However, few works have explored the motivation of using TD error. In this work, we provide an alternative perspective on TD-error-based reweighting. We show the connections between the experience prioritization and occupancy optimization. By using a regularized RL objective with $f-$divergence regularizer and employing its dual form, we show that an optimal solution to the objective is obtained by shifting the distribution of off-policy data in the replay buffer towards the on-policy optimal distribution using TD-error-based occupancy ratios. Our derivation results in a new pipeline of TD error prioritization. We specifically explore the KL divergence as the regularizer and obtain a new form of prioritization scheme, the regularized optimal experience replay (ROER). We evaluate the proposed prioritization scheme with the Soft Actor-Critic (SAC) algorithm in continuous control MuJoCo and DM Control benchmark tasks where our proposed scheme outperforms baselines in 6 out of 11 tasks while the results of the rest match with or do not deviate far from the baselines. Further, using pretraining, ROER achieves noticeable improvement on difficult Antmaze environment where baselines fail, showing applicability to offline-to-online fine-tuning. Code is available at \url{https://github.com/XavierChanglingLi/Regularized-Optimal-Experience-Replay}.

Text-to-Drive: Diverse Driving Behavior Synthesis via Large Language Models

Generating varied scenarios through simulation is crucial for training and evaluating safety-critical systems, such as autonomous vehicles. Yet, the task of modeling the trajectories of other vehicles to simulate diverse and meaningful close interactions remains prohibitively costly. Adopting language descriptions to generate driving behaviors emerges as a promising strategy, offering a scalable and intuitive method for human operators to simulate a wide range of driving interactions. However, the scarcity of large-scale annotated language-trajectory data makes this approach challenging. To address this gap, we propose Text-to-Drive (T2D) to synthesize diverse driving behaviors via Large Language Models (LLMs). We introduce a knowledge-driven approach that operates in two stages. In the first stage, we employ the embedded knowledge of LLMs to generate diverse language descriptions of driving behaviors for a scene. Then, we leverage LLM's reasoning capabilities to synthesize these behaviors in simulation. At its core, T2D employs an LLM to construct a state chart that maps low-level states to high-level abstractions. This strategy aids in downstream tasks such as summarizing low-level observations, assessing policy alignment with behavior description, and shaping the auxiliary reward, all without needing human supervision. With our knowledge-driven approach, we demonstrate that T2D generates more diverse trajectories compared to other baselines and offers a natural language interface that allows for interactive incorporation of human preference. Please check our website for more examples: https://text-to-drive.github.io/

Curiosity-driven Red-teaming for Large Language Models

Large language models (LLMs) hold great potential for many natural language applications but risk generating incorrect or toxic content. To probe when an LLM generates unwanted content, the current paradigm is to recruit a \textit{red team} of human testers to design input prompts (i.e., test cases) that elicit undesirable responses from LLMs. However, relying solely on human testers is expensive and time-consuming. Recent works automate red teaming by training a separate red team LLM with reinforcement learning (RL) to generate test cases that maximize the chance of eliciting undesirable responses from the target LLM. However, current RL methods are only able to generate a small number of effective test cases resulting in a low coverage of the span of prompts that elicit undesirable responses from the target LLM. To overcome this limitation, we draw a connection between the problem of increasing the coverage of generated test cases and the well-studied approach of curiosity-driven exploration that optimizes for novelty. Our method of curiosity-driven red teaming (CRT) achieves greater coverage of test cases while mantaining or increasing their effectiveness compared to existing methods. Our method, CRT successfully provokes toxic responses from LLaMA2 model that has been heavily fine-tuned using human preferences to avoid toxic outputs. Code is available at \url{https://github.com/Improbable-AI/curiosity_redteam}

Neuro-Inspired Fragmentation and Recall to Overcome Catastrophic Forgetting in Curiosity

Deep reinforcement learning methods exhibit impressive performance on a range of tasks but still struggle on hard exploration tasks in large environments with sparse rewards. To address this, intrinsic rewards can be generated using forward model prediction errors that decrease as the environment becomes known, and incentivize an agent to explore novel states. While prediction-based intrinsic rewards can help agents solve hard exploration tasks, they can suffer from catastrophic forgetting and actually increase at visited states. We first examine the conditions and causes of catastrophic forgetting in grid world environments. We then propose a new method FARCuriosity, inspired by how humans and animals learn. The method depends on fragmentation and recall: an agent fragments an environment based on surprisal, and uses different local curiosity modules (prediction-based intrinsic reward functions) for each fragment so that modules are not trained on the entire environment. At each fragmentation event, the agent stores the current module in long-term memory (LTM) and either initializes a new module or recalls a previously stored module based on its match with the current state. With fragmentation and recall, FARCuriosity achieves less forgetting and better overall performance in games with varied and heterogeneous environments in the Atari benchmark suite of tasks. Thus, this work highlights the problem of catastrophic forgetting in prediction-based curiosity methods and proposes a solution.

Beyond Uniform Sampling: Offline Reinforcement Learning with Imbalanced Datasets

Offline policy learning is aimed at learning decision-making policies using existing datasets of trajectories without collecting additional data. The primary motivation for using reinforcement learning (RL) instead of supervised learning techniques such as behavior cloning is to find a policy that achieves a higher average return than the trajectories constituting the dataset. However, we empirically find that when a dataset is dominated by suboptimal trajectories, state-of-the-art offline RL algorithms do not substantially improve over the average return of trajectories in the dataset. We argue this is due to an assumption made by current offline RL algorithms of staying close to the trajectories in the dataset. If the dataset primarily consists of sub-optimal trajectories, this assumption forces the policy to mimic the suboptimal actions. We overcome this issue by proposing a sampling strategy that enables the policy to only be constrained to ``good data" rather than all actions in the dataset (i.e., uniform sampling). We present a realization of the sampling strategy and an algorithm that can be used as a plug-and-play module in standard offline RL algorithms. Our evaluation demonstrates significant performance gains in 72 imbalanced datasets, D4RL dataset, and across three different offline RL algorithms. Code is available at https://github.com/Improbable-AI/dw-offline-rl.

Parallel $Q$-Learning: Scaling Off-policy Reinforcement Learning under Massively Parallel Simulation

Reinforcement learning is time-consuming for complex tasks due to the need for large amounts of training data. Recent advances in GPU-based simulation, such as Isaac Gym, have sped up data collection thousands of times on a commodity GPU. Most prior works used on-policy methods like PPO due to their simplicity and ease of scaling. Off-policy methods are more data efficient but challenging to scale, resulting in a longer wall-clock training time. This paper presents a Parallel $Q$-Learning (PQL) scheme that outperforms PPO in wall-clock time while maintaining superior sample efficiency of off-policy learning. PQL achieves this by parallelizing data collection, policy learning, and value learning. Different from prior works on distributed off-policy learning, such as Apex, our scheme is designed specifically for massively parallel GPU-based simulation and optimized to work on a single workstation. In experiments, we demonstrate that $Q$-learning can be scaled to \textit{tens of thousands of parallel environments} and investigate important factors affecting learning speed. The code is available at https://github.com/Improbable-AI/pql.