Claude 3 Opus strategically fakes alignment by complying with harmful requests only during simulated training to preserve its preference for refusing them afterward.
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Proximal Policy Optimization Algorithms
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We propose a new family of policy gradient methods for reinforcement learning, which alternate between sampling data through interaction with the environment, and optimizing a "surrogate" objective function using stochastic gradient ascent. Whereas standard policy gradient methods perform one gradient update per data sample, we propose a novel objective function that enables multiple epochs of minibatch updates. The new methods, which we call proximal policy optimization (PPO), have some of the benefits of trust region policy optimization (TRPO), but they are much simpler to implement, more general, and have better sample complexity (empirically). Our experiments test PPO on a collection of benchmark tasks, including simulated robotic locomotion and Atari game playing, and we show that PPO outperforms other online policy gradient methods, and overall strikes a favorable balance between sample complexity, simplicity, and wall-time.
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- abstract We propose a new family of policy gradient methods for reinforcement learning, which alternate between sampling data through interaction with the environment, and optimizing a "surrogate" objective function using stochastic gradient ascent. Whereas standard policy gradient methods perform one gradient update per data sample, we propose a novel objective function that enables multiple epochs of minibatch updates. The new methods, which we call proximal policy optimization (PPO), have some of the benefits of trust region policy optimization (TRPO), but they are much simpler to implement, more ge
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Dynamic isotropy, quantifying uniform center-of-mass acceleration capability, improves robot performance and enables omnidirectional locomotion, terrain traversal, and failure resilience in a spherical robot design.
Agent-BRACE improves LLM agent performance on long-horizon partially observable tasks by 5.3-14.5% through a decoupled belief state of verbalized atomic claims with certainty labels that keeps context length constant.
SimWorld Studio deploys an evolving coding agent to create adaptive 3D environments that co-evolve with embodied learners, delivering 18-point success-rate gains over fixed environments in navigation benchmarks.
ReLibra uses pre-known token-to-expert routing from RL rollouts to perform inter-batch expert reordering and intra-batch replication, delivering up to 1.6x higher throughput than Megatron-LM and 1.2x over oracle-equipped EPLB while staying within 6-10% of an ideal balanced baseline.
Weak-to-strong generalization is nearly inevitable in linear logistic regression for most student-teacher pairs without any model capacity mismatch.
Observation and action delays are formally equivalent in cooperative Dec-POMDPs, yielding identical optimal solutions and enabling zero-shot transfer, though learning dynamics differ due to credit assignment and operational constraints.
A language-game framework enables dialogue with dynamical systems such as GRNs by treating their frozen dynamics as an RL policy core, using an LM to route prompts so the system responds through its own behavior without parameter changes.
RefereeBench shows that even the strongest video MLLMs reach only around 60% accuracy on multi-sport refereeing tasks and struggle with rule application and temporal grounding.
OP-GRPO is the first off-policy GRPO method for flow-matching models that reuses trajectories via replay buffer and importance sampling corrections, matching on-policy performance with 34.2% of the training steps.
User-turn generation reveals that LLMs' interaction awareness is largely decoupled from task accuracy, remaining near zero in deterministic settings even as accuracy scales to 96.8% on GSM8K.
Derives an exact unbiased policy gradient for RL post-training of diffusion LLMs via entropy-guided step selection and one-step denoising rewards, achieving state-of-the-art results on coding and logical reasoning benchmarks.
A certified gradient-based method for contact-rich manipulation that quantifies smoothing-induced errors via set-valued discrepancies and incorporates them into analytical reachable sets for robust affine feedback policies.
First in-orbit demonstration of a DRL-trained AI satellite attitude controller that performs robust inertial pointing after sim-to-real transfer.
Develops and tests the first effective safeguard for analytic gradient-based provably safe RL, showing safe training on three control tasks without performance loss.
Flow-GRPO is the first online RL method for flow matching models, raising GenEval accuracy from 63% to 95% and text-rendering accuracy from 59% to 92% with little reward hacking.
SWE-Gym supplies 2438 executable real-world Python tasks to train SWE agents and verifiers, yielding up to 19% gains and new open-weight SOTA of 32% on SWE-Bench Verified.
BEHAVIOR-1K introduces a benchmark of 1,000 human everyday activities in realistic simulated scenes together with the OMNIGIBSON physics simulator to evaluate embodied AI.
ORPO performs preference alignment during supervised fine-tuning via a monolithic odds ratio penalty, allowing 7B models to outperform larger state-of-the-art models on alignment benchmarks.
IWR improves CRL sample efficiency and performance in interaction-rich manipulation by interaction-aware resampling that preserves mode boundaries, yielding 19.8% average gains and a real-world air-hockey agent.
EFE-based planning is formulated as variational free energy minimization with epistemic priors, decomposing into expected plan costs plus a complexity term.
EFE-based active inference planning is characterized as VFE on an augmented model plus entropy and planning corrections, with a derived message-passing implementation and grid-world validation.
Reinforcement learning on a bead-spring cilia model identifies antiplectic coordination as flow-maximizing, with a tilted-slider reduced model showing that a time-averaged position shift opposite the effective stroke enhances transport via elastic restoring force coupling, and that symplectic coordi
PromptPO shows LLMs can act as black-box policy optimizers for sequential RL when leveraging prior knowledge, matching baselines in exploration and robotics but underperforming in MuJoCo.
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Iterative Critique-and-Routing Controller for Multi-Agent Systems with Heterogeneous LLMs
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T$^2$PO: Uncertainty-Guided Exploration Control for Stable Multi-Turn Agentic Reinforcement Learning
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HiRO-Nav: Hybrid ReasOning Enables Efficient Embodied Navigation
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VAPO: Efficient and Reliable Reinforcement Learning for Advanced Reasoning Tasks
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Mid-Training with Self-Generated Data Improves Reinforcement Learning in Language Models
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Skill1: Unified Evolution of Skill-Augmented Agents via Reinforcement Learning
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