4 accepted papers
Despite scale driving substantial recent advancements in machine learning, reinforcement learning (RL) methods still primarily use small value functions. Naively scaling value functions -- including with a transformer architecture, which is known to be highly scalable -- often results in learning in…
Large Language Models (LLMs) have revolutionized various domains but remain vulnerable to prompt injection attacks, where malicious inputs manipulate the model into ignoring original instructions and executing designated action. In this paper, we investigate the underlying mechanisms of these attack…
We study reward models for long-horizon manipulation by learning from action-free videos and language instructions, which we term the visual-instruction correlation (VIC) problem. Existing VIC methods face challenges in learning rewards for long-horizon tasks due to their lack of sub-stage awareness…
We introduce a new task called Adaptable Error Detection (AED), which aims to identify behavior errors in few-shot imitation (FSI) policies based on visual observations in novel environments. The potential to cause serious damage to surrounding areas limits the application of FSI policies in real-wo…