AnySkill: Learning Open-Vocabulary Physical Skill for Interactive Agents

Traditional approaches in physics-based motion generation, centered around imitation learning and reward shaping, often struggle to adapt to new scenarios. To tackle this limitation, we propose AnySkill, a novel hierarchical method that learns physically plausible interactions following open-vocabulary instructions. Our approach begins by developing a set of atomic actions via a low-level controller trained via imitation learning. Upon receiving an open-vocabulary textual instruction, AnySkill employs a high-level policy that selects and integrates these atomic actions to maximize the CLIP similarity between the agent's rendered images and the text. An important feature of our method is the use of image-based rewards for the high-level policy, which allows the agent to learn interactions with objects without manual reward engineering. We demonstrate AnySkill's capability to generate realistic and natural motion sequences in response to unseen instructions of varying lengths, marking it the first method capable of open-vocabulary physical skill learning for interactive humanoid agents.

INSIGHT: End-to-End Neuro-Symbolic Visual Reinforcement Learning with Language Explanations

Neuro-symbolic reinforcement learning (NS-RL) has emerged as a promising paradigm for explainable decision-making, characterized by the interpretability of symbolic policies. For tasks with visual observations, NS-RL entails structured representations for states, but previous algorithms are unable to refine the structured states with reward signals due to a lack of efficiency. Accessibility is also an issue, as extensive domain knowledge is required to interpret current symbolic policies. In this paper, we present a framework that is capable of learning structured states and symbolic policies simultaneously, whose key idea is to overcome the efficiency bottleneck by distilling vision foundation models into a scalable perception module. Moreover, we design a pipeline that uses large language models to generate concise and readable language explanations for policies and decisions. In experiments on nine Atari tasks, our approach demonstrates substantial performance gains over existing NSRL methods. We also showcase explanations for policies and decisions.

UniDexFPM: Universal Dexterous Functional Pre-grasp Manipulation Via Diffusion Policy

Objects in the real world are often not naturally positioned for functional grasping, which usually requires repositioning and reorientation before they can be grasped, a process known as pre-grasp manipulation. However, effective learning of universal dexterous functional pre-grasp manipulation necessitates precise control over relative position, relative orientation, and contact between the hand and object, while generalizing to diverse dynamic scenarios with varying objects and goal poses. We address the challenge by using teacher-student learning. We propose a novel mutual reward that incentivizes agents to jointly optimize three key criteria. Furthermore, we introduce a pipeline that leverages a mixture-of-experts strategy to learn diverse manipulation policies, followed by a diffusion policy to capture complex action distributions from these experts. Our method achieves a success rate of 72.6% across 30+ object categories encompassing 1400+ objects and 10k+ goal poses. Notably, our method relies solely on object pose information for universal dexterous functional pre-grasp manipulation by using extrinsic dexterity and adjusting from feedback. Additional experiments under noisy object pose observation showcase the robustness of our method and its potential for real-world applications. The demonstrations can be viewed at https://unidexfpm.github.io.

Incentive Compatibility for AI Alignment in Sociotechnical Systems: Positions and Prospects

The burgeoning integration of artificial intelligence (AI) into human society brings forth significant implications for societal governance and safety. While considerable strides have been made in addressing AI alignment challenges, existing methodologies primarily focus on technical facets, often neglecting the intricate sociotechnical nature of AI systems, which can lead to a misalignment between the development and deployment contexts. To this end, we posit a new problem worth exploring: Incentive Compatibility Sociotechnical Alignment Problem (ICSAP). We hope this can call for more researchers to explore how to leverage the principles of Incentive Compatibility (IC) from game theory to bridge the gap between technical and societal components to maintain AI consensus with human societies in different contexts. We further discuss three classical game problems for achieving IC: mechanism design, contract theory, and Bayesian persuasion, in addressing the perspectives, potentials, and challenges of solving ICSAP, and provide preliminary implementation conceptions.

Rethinking Information Structures in RLHF: Reward Generalization from a Graph Theory Perspective

There is a trilemma in reinforcement learning from human feedback (RLHF): the incompatibility between highly diverse contexts, low labeling cost, and reliable alignment performance. Here we aim to mitigate such incompatibility through the design of dataset information structures during reward modeling, and meanwhile propose new, generalizable methods of analysis that have wider applications, including potentially shedding light on goal misgeneralization. Specifically, we first reexamine the RLHF process and propose a theoretical framework portraying it as an autoencoding process over text distributions. Our framework formalizes the RLHF objective of ensuring distributional consistency between human preference and large language model (LLM) behavior. Based on this framework, we introduce a new method to model generalization in the reward modeling stage of RLHF, the induced Bayesian network (IBN). Drawing from random graph theory and causal analysis, it enables empirically grounded derivation of generalization error bounds, a key improvement over classical methods of generalization analysis. An insight from our analysis is the superiority of the tree-based information structure in reward modeling, compared to chain-based baselines in conventional RLHF methods. We derive that in complex contexts with limited data, the tree-based reward model (RM) induces up to $\Theta(\log n/\log\log n)$ times less variance than chain-based RM where $n$ is the dataset size. As validation, we demonstrate that on three NLP tasks, the tree-based RM achieves 65% win rate on average against chain-based baselines. Looking ahead, we hope to extend the IBN analysis to help understand the phenomenon of goal misgeneralization.

Aligner: Achieving Efficient Alignment through Weak-to-Strong Correction

Efforts to align Large Language Models (LLMs) are mainly conducted via Reinforcement Learning from Human Feedback (RLHF) methods. However, RLHF encounters major challenges including training reward models, actor-critic engineering, and importantly, it requires access to LLM parameters. Here we introduce Aligner, a new efficient alignment paradigm that bypasses the whole RLHF process by learning the correctional residuals between the aligned and the unaligned answers. Our Aligner offers several key advantages. Firstly, it is an autoregressive seq2seq model that is trained on the query-answer-correction dataset via supervised learning; this offers a parameter-efficient alignment solution with minimal resources. Secondly, the Aligner facilitates weak-to-strong generalization; finetuning large pretrained models by Aligner's supervisory signals demonstrates strong performance boost. Thirdly, Aligner functions as a model-agnostic plug-and-play module, allowing for its direct application on different open-source and API-based models. Remarkably, Aligner-7B improves 11 different LLMs by 21.9% in helpfulness and 23.8% in harmlessness on average (GPT-4 by 17.5% and 26.9%). When finetuning (strong) Llama2-70B with (weak) Aligner-13B's supervision, we can improve Llama2 by 8.2% in helpfulness and 61.6% in harmlessness. See our dataset and code at https://aligner2024.github.io

Panacea: Pareto Alignment via Preference Adaptation for LLMs

Current methods for large language model alignment typically use scalar human preference labels. However, this convention tends to oversimplify the multi-dimensional and heterogeneous nature of human preferences, leading to reduced expressivity and even misalignment. This paper presents Panacea, an innovative approach that reframes alignment as a multi-dimensional preference optimization problem. Panacea trains a single model capable of adapting online and Pareto-optimally to diverse sets of preferences without the need for further tuning. A major challenge here is using a low-dimensional preference vector to guide the model's behavior, despite it being governed by an overwhelmingly large number of parameters. To address this, Panacea is designed to use singular value decomposition (SVD)-based low-rank adaptation, which allows the preference vector to be simply injected online as singular values. Theoretically, we prove that Panacea recovers the entire Pareto front with common loss aggregation methods under mild conditions. Moreover, our experiments demonstrate, for the first time, the feasibility of aligning a single LLM to represent a spectrum of human preferences through various optimization methods. Our work marks a step forward in effectively and efficiently aligning models to diverse and intricate human preferences in a controllable and Pareto-optimal manner.