Publications

Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots

Simon Chamorro

Victor Klemm

Miguel de La Iglesia Valls

Chris Pal

Roland Siegwart

In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across v… (see more)arious domains. One significant challenge faced by many of these robots is their limited capability to navigate stairs, which hampers their functionality in multi-story environments. This study proposes a method aimed at addressing this limitation, employing reinforcement learning to develop a versatile controller applicable to a wide range of robots. In contrast to the conventional velocity-based controllers, our approach builds upon a position-based formulation of the RL task, which we show to be vital for stair climbing. Furthermore, the methodology leverages an asymmetric actor-critic structure, enabling the utilization of privileged information from simulated environments during training while eliminating the reliance on exteroceptive sensors during real-world deployment. Another key feature of the proposed approach is the incorporation of a boolean observation within the controller, enabling the activation or deactivation of a stair-climbing mode. We present our results on different quadrupeds and bipedal robots in simulation and showcase how our method allows the balancing robot Ascento to climb 15cm stairs in the real world, a task that was previously impossible for this robot.

2024-02-09

ArXiv (preprint)

On the Privacy of Selection Mechanisms with Gaussian Noise

Jonathan Lebensold

Doina Precup

Borja Balle

2024-02-09

ArXiv (preprint)

V-STaR: Training Verifiers for Self-Taught Reasoners

Arian Hosseini

Xingdi Yuan

Nikolay Malkin

Common self-improvement approaches for large language models (LLMs), such as STaR, iteratively fine-tune LLMs on self-generated solutions to… (see more) improve their problem-solving ability. However, these approaches discard the large amounts of incorrect solutions generated during this process, potentially neglecting valuable information in such solutions. To address this shortcoming, we propose V-STaR that utilizes both the correct and incorrect solutions generated during the self-improvement process to train a verifier using DPO that judges correctness of model-generated solutions. This verifier is used at inference time to select one solution among many candidate solutions. Running V-STaR for multiple iterations results in progressively better reasoners and verifiers, delivering a 4% to 17% test accuracy improvement over existing self-improvement and verification approaches on common code generation and math reasoning benchmarks with LLaMA2 models.

2024-02-09

ArXiv (preprint)

V-STaR: Training Verifiers for Self-Taught Reasoners

Arian Hosseini

Xingdi Yuan

Nikolay Malkin

Common self-improvement approaches for large language models (LLMs), such as STaR, iteratively fine-tune LLMs on self-generated solutions to… (see more) improve their problem-solving ability. However, these approaches discard the large amounts of incorrect solutions generated during this process, potentially neglecting valuable information in such solutions. To address this shortcoming, we propose V-STaR that utilizes both the correct and incorrect solutions generated during the self-improvement process to train a verifier using DPO that judges correctness of model-generated solutions. This verifier is used at inference time to select one solution among many candidate solutions. Running V-STaR for multiple iterations results in progressively better reasoners and verifiers, delivering a 4% to 17% test accuracy improvement over existing self-improvement and verification approaches on common code generation and math reasoning benchmarks with LLaMA2 models.

2024-02-09

ArXiv (preprint)

V-STaR: Training Verifiers for Self-Taught Reasoners

Arian Hosseini

Xingdi Yuan

Nikolay Malkin

Common self-improvement approaches for large language models (LLMs), such as STaR, iteratively fine-tune LLMs on self-generated solutions to… (see more) improve their problem-solving ability. However, these approaches discard the large amounts of incorrect solutions generated during this process, potentially neglecting valuable information in such solutions. To address this shortcoming, we propose V-STaR that utilizes both the correct and incorrect solutions generated during the self-improvement process to train a verifier using DPO that judges correctness of model-generated solutions. This verifier is used at inference time to select one solution among many candidate solutions. Running V-STaR for multiple iterations results in progressively better reasoners and verifiers, delivering a 4% to 17% test accuracy improvement over existing self-improvement and verification approaches on common code generation and math reasoning benchmarks with LLaMA2 models.

2024-02-09

ArXiv (preprint)

V-STaR: Training Verifiers for Self-Taught Reasoners

Arian Hosseini

Xingdi Yuan

Nikolay Malkin

Common self-improvement approaches for large language models (LLMs), such as STaR (Zelikman et al., 2022), iteratively fine-tune LLMs on sel… (see more)f-generated solutions to improve their problem-solving ability. However, these approaches discard the large amounts of incorrect solutions generated during this process, potentially neglecting valuable information in such solutions. To address this shortcoming, we propose V-STaR that utilizes both the correct and incorrect solutions generated during the self-improvement process to train a verifier using DPO that judges correctness of model-generated solutions. This verifier is used at inference time to select one solution among many candidate solutions. Running V-STaR for multiple iterations results in progressively better reasoners and verifiers, delivering a 4% to 17% test accuracy improvement over existing self-improvement and verification approaches on common code generation and math reasoning benchmarks with LLaMA2 models.

2024-02-09

ArXiv (preprint)

V-STaR: Training Verifiers for Self-Taught Reasoners

Arian Hosseini

Xingdi Yuan

Nikolay Malkin

Common self-improvement approaches for large language models (LLMs), such as STaR, iteratively fine-tune LLMs on self-generated solutions to… (see more) improve their problem-solving ability. However, these approaches discard the large amounts of incorrect solutions generated during this process, potentially neglecting valuable information in such solutions. To address this shortcoming, we propose V-STaR that utilizes both the correct and incorrect solutions generated during the self-improvement process to train a verifier using DPO that judges correctness of model-generated solutions. This verifier is used at inference time to select one solution among many candidate solutions. Running V-STaR for multiple iterations results in progressively better reasoners and verifiers, delivering a 4% to 17% test accuracy improvement over existing self-improvement and verification approaches on common code generation and math reasoning benchmarks with LLaMA2 models.

2024-02-09

ArXiv (preprint)

Deep Learning for Data-Driven Districting-and-Routing

Arthur Ferraz

Quentin Cappart

Thibaut Vidal

2024-02-08

ArXiv (preprint)

Deep Learning for Data-Driven Districting-and-Routing

Arthur Ferraz

Quentin Cappart

Thibaut Vidal

Districting-and-routing is a strategic problem aiming to aggregate basic geographical units (e.g., zip codes) into delivery districts. Its g… (see more)oal is to minimize the expected long-term routing cost of performing deliveries in each district separately. Solving this stochastic problem poses critical challenges since repeatedly evaluating routing costs on a set of scenarios while searching for optimal districts takes considerable time. Consequently, solution approaches usually replace the true cost estimation with continuous cost approximation formulas extending Beardwood-Halton-Hammersley and Daganzo's work. These formulas commit errors that can be magnified during the optimization step. To reconcile speed and solution quality, we introduce a supervised learning and optimization methodology leveraging a graph neural network for delivery-cost estimation. This network is trained to imitate known costs generated on a limited subset of training districts. It is used within an iterated local search procedure to produce high-quality districting plans. Our computational experiments, conducted on five metropolitan areas in the United Kingdom, demonstrate that the graph neural network predicts long-term district cost operations more accurately, and that optimizing over this oracle permits large economic gains (10.12% on average) over baseline methods that use continuous approximation formulas or shallow neural networks. Finally, we observe that having compact districts alone does not guarantee high-quality solutions and that other learnable geometrical features of the districts play an essential role.

2024-02-08

ArXiv (preprint)

Implicit Diffusion: Efficient Optimization through Stochastic Sampling

Pierre Marion

Anna Korba

Peter Bartlett

Mathieu Blondel

Valentin De Bortoli

Arnaud Doucet

Felipe Llinares-L'opez

Courtney Paquette

Quentin Berthet

2024-02-08

ArXiv (preprint)

In-Context Learning Can Re-learn Forbidden Tasks

Sophie Xhonneux

David Dobre

Jian Tang

Gauthier Gidel

Dhanya Sridhar

Despite significant investment into safety training, large language models (LLMs) deployed in the real world still suffer from numerous vuln… (see more)erabilities. One perspective on LLM safety training is that it algorithmically forbids the model from answering toxic or harmful queries. To assess the effectiveness of safety training, in this work, we study forbidden tasks, i.e., tasks the model is designed to refuse to answer. Specifically, we investigate whether in-context learning (ICL) can be used to re-learn forbidden tasks despite the explicit fine-tuning of the model to refuse them. We first examine a toy example of refusing sentiment classification to demonstrate the problem. Then, we use ICL on a model fine-tuned to refuse to summarise made-up news articles. Finally, we investigate whether ICL can undo safety training, which could represent a major security risk. For the safety task, we look at Vicuna-7B, Starling-7B, and Llama2-7B. We show that the attack works out-of-the-box on Starling-7B and Vicuna-7B but fails on Llama2-7B. Finally, we propose an ICL attack that uses the chat template tokens like a prompt injection attack to achieve a better attack success rate on Vicuna-7B and Starling-7B. Trigger Warning: the appendix contains LLM-generated text with violence, suicide, and misinformation.

2024-02-08

ArXiv (preprint)