Archit Sharma

EDBT 2026 Demo / reviewers in the wild / expert

dblp:220/3163 · DBLP profile ↗

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20ranked-venue papers

7as first author

18since 2021 · last 2025

—ORCID · conflict

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 20 · 7 first-author · 18 since 2021Systems, architecture and hardware · 3 · 3 since 2021

Year	Publication	Venue	Position
2025	Grounding by Trying: LLMs with Reinforcement Learning-Enhanced Retrieval abstract The hallucinations of large language models (LLMs) are increasingly mitigated by allowing LLMs to search for information and to ground their answers in real sources. Unfortunately, LLMs often struggle with posing the right search queries, especially when dealing with complex or otherwise indirect topics. Observing that LLMs can learn to search for relevant facts by $\textit{trying}$ different queries and learning to up-weight queries that successfully produce relevant results, we introduce $\underline{Le}$arning to $\underline{Re}$trieve by $\underline{T}$rying (LeReT), a reinforcement learning framework that explores search queries and uses preference-based optimization to improve their quality. LeReT can improve the absolute retrieval accuracy by up to 29\% and the downstream generator evaluations by 17\%. The simplicity and flexibility of LeReT allows it to be applied to arbitrary off-the-shelf retrievers and makes it a promising technique for improving general LLM pipelines. Sheryl Hsu, Omar Khattab, Chelsea Finn, Archit Sharma	ICLR	4
2024	Evolutionary Search of Optimal Hyperparameters for Learning Various Robot Manipulation Tasks abstract This paper presents a comprehensive study of robotic manipulation tasks, focusing on the movement planning and task-handling capabilities of robots. We introduce a novel approach that employs Dynamic Movement Primitives (DMP) for movement planning, coupled with an evolutionary algorithm, specifically the Genetic Algorithm (GA), for hyperparameter tuning of the DMP. Our method significantly enhances the system's precision and control, thereby facilitating a more accurate output. Furthermore, we conduct a comparative analysis of two optimization techniques - user-based and GA-based. Our findings indicate that the GA-based technique offers superior precision, underscoring its potential in advancing robotic manipulation tasks. Archit Sharma, Sandeep Gupta 0003, Peeyush Thakur, Narendra Kumar Dhar, Laxmidhar Behera	CEC	1
2024	An Emulator for Fine-tuning Large Language Models using Small Language Models abstract Widely used language models (LMs) are typically built by scaling up a two-stage training pipeline: a pre-training stage that uses a very large, diverse dataset of text and a fine-tuning (sometimes, 'alignment') stage that uses targeted examples or other specifications of desired behaviors. While it has been hypothesized that knowledge and skills come from pre-training, and fine-tuning mostly filters this knowledge and skillset, this intuition has not been extensively tested. To aid in doing so, we introduce a novel technique for decoupling the knowledge and skills gained in these two stages, enabling a direct answer to the question, What would happen if we combined the knowledge learned by a large model during pre-training with the knowledge learned by a small model during fine-tuning (or vice versa)? Using an RL-based framework derived from recent developments in learning from human preferences, we introduce emulated fine-tuning (EFT), a principled and practical method for sampling from a distribution that approximates (or 'emulates') the result of pre-training and fine-tuning at different scales. Our experiments with EFT show that scaling up fine-tuning tends to improve helpfulness, while scaling up pre-training tends to improve factuality. Beyond decoupling scale, we show that EFT enables test-time adjustment of competing behavioral traits like helpfulness and harmlessness without additional training. Finally, a special case of emulated fine-tuning, which we call LM up-scaling, avoids resource-intensive fine-tuning of large pre-trained models by ensembling them with small fine-tuned models, essentially emulating the result of fine-tuning the large pre-trained model. Up-scaling consistently improves helpfulness and factuality of instruction-following models in the Llama, Llama-2, and Falcon families, without additional hyperparameters or training. For reference implementation, see [https://github.com/eric-mitchell/emulated-fine-tuning](https://github.com/eric-mitchell/emulated-fine-tuning). Eric Mitchell, Rafael Rafailov, Archit Sharma, Chelsea Finn, Christopher D. Manning	ICLR	3
2024	Language Model Detectors Are Easily Optimized Against abstract The fluency and general applicability of large language models (LLMs) has motivated significant interest in detecting whether a piece of text was written by a language model. While both academic and commercial detectors have been deployed in some settings, particularly education, other research has highlighted the fragility of these systems. In this paper, we demonstrate a data-efficient attack that fine-tunes language models to confuse existing detectors, leveraging recent developments in reinforcement learning of language models. We use the `human-ness' score (often just a log probability) of various open-source and commercial detectors as a reward function for reinforcement learning, subject to a KL-divergence constraint that the resulting model does not differ significantly from the original. For a 7B parameter Llama-2 model, fine-tuning for under a day reduces the AUROC of the OpenAI RoBERTa-Large detector from 0.84 to 0.63, while perplexity on OpenWebText increases from 8.7 to only 9.0; with a larger perplexity budget, we can drive AUROC to 0.30 (worse than random). Similar to traditional adversarial attacks, we find that this increase in 'detector evasion' generalizes to other detectors not used during training. In light of our empirical results, we advise against continued reliance on LLM-generated text detectors. Models, datasets, and selected experiment code will be released at https://github.com/charlottttee/llm-detector-evasion. Charlotte Nicks, Eric Mitchell, Rafael Rafailov, Archit Sharma, Christopher D. Manning, Chelsea Finn, Stefano Ermon	ICLR	4
2024	RLVF: Learning from Verbal Feedback without Overgeneralization abstract The diversity of contexts in which large language models (LLMs) are deployed requires the ability to modify or customize default model behaviors to incorporate nuanced requirements and preferences. A convenient interface to specify such model adjustments is high-level verbal feedback, such as “Don’t use emojis when drafting emails to my boss.” However, while writing high-level feedback is far simpler than collecting annotations for reinforcement learning from human feedback (RLHF), we find that simply prompting a model with such feedback leads to $\textbf{overgeneralization}$–applying feedback in contexts where it is not relevant. We propose a new method Contextualized Critiques with Constrained Preference Optimization (C3PO) to learn from high-level verbal feedback while reducing overgeneralization compared to current work. C3PO uses a piece of high-level feedback to generate a small synthetic preference dataset to specify when and how the feedback should (and should not) be applied. It then fine-tunes the model in accordance with the synthetic preference data while minimizing the divergence from the original model for prompts where the feedback does not apply. Our experimental results indicate that our approach effectively applies verbal feedback to relevant scenarios while preserving existing behaviors for other contexts more than current methods. For both human- and GPT-4-generated high-level feedback, C3PO effectively adheres to the given feedback comparably to in-context baselines while reducing overgeneralization by 30%. Moritz Stephan, Alexander Khazatsky, Eric Mitchell, Annie S. Chen, Sheryl Hsu, Archit Sharma, Chelsea Finn	ICML	6
2024	Preference Fine-Tuning of LLMs Should Leverage Suboptimal, On-Policy Data abstract Learning from preference labels plays a crucial role in fine-tuning large language models — this is done via supervised learning, on-policy reinforcement learning (RL), or contrastive learning. Different methods come with different implementation tradeoffs, and existing empirical findings present different conclusions, for instance, some results show that online RL is quite important to attain good fine-tuning results, while others find offline methods sufficient. This raises a question: what kind of approaches are important for fine-tuning with preference data and why? In this paper, we answer this question by performing a rigorous analysis of a number of fine-tuning techniques on didactic and full-scale LLM problems. Our main finding is that approaches that use on-policy sampling and attempt to push down the likelihood on certain responses (i.e., employ a ”negative gradient”) outperform offline and maximum likelihood objectives. We conceptualize our insights and unify methods that use on-policy sampling or negative gradient under a notion of mode-seeking objectives for categorical distributions. Mode-seeking objectives are able to alter probability mass on specific bins of a categorical distribution at a fast rate compared to maximum likelihood, allowing them to relocate masses across bins more effectively. Our analysis prescribes actionable insights for preference fine-tuning of LLMs and informs how data should be collected for maximal improvement. Fahim Tajwar, Anikait Singh, Archit Sharma, Rafael Rafailov, Jeff G. Schneider, Tengyang Xie, Stefano Ermon, Chelsea Finn, Aviral Kumar	ICML	3
2024	SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning abstract In recent years, significant progress has been made in the field of robotic reinforcement learning (RL), enabling methods that handle complex image observations, train in the real world, and incorporate auxiliary data, such as demonstrations and prior experience. However, despite these advances, robotic RL remains hard to use. It is acknowledged among practitioners that the particular implementation details of these algorithms are often just as important (if not more so) for performance as the choice of algorithm. We posit that a significant challenge to the widespread adoption of robotic RL, as well as the further development of robotic RL methods, is the comparative inaccessibility of such methods. To address this challenge, we developed a carefully implemented library containing a sample efficient off-policy deep RL method, together with methods for computing rewards and resetting the environment, a high-quality controller for a widely adopted robot, and a number of challenging example tasks. We provide this library as a resource for the community, describe its design choices, and present experimental results. Perhaps surprisingly, we find that our implementation can achieve very efficient learning, acquiring policies for PCB board assembly, cable routing, and object relocation between 25 to 50 minutes of training per policy on average, improving over state-of-the-art results reported for similar tasks in the literature. These policies achieve perfect or near-perfect success rates, extreme robustness even under perturbations, and exhibit emergent recovery and correction behaviors. We hope these promising results and our high-quality open-source implementation will provide a tool for the robotics community to facilitate further developments in robotic RL. Our code, documentation, and videos can be found at https://serl-robot.github.io/ Jianlan Luo, Zheyuan Hu 0003, Charles Xu 0003, You Liang Tan, Jacob Berg, Archit Sharma, Stefan Schaal, Chelsea Finn, Abhishek Gupta 0004, Sergey Levine	ICRA	6
2024	Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration abstract Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train "generalist" X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. The project website is robotics-transformer-x.github.io. Abigail O'Neill, Abhiram Maddukuri, Abhishek Gupta 0004, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, Albert Tung, Alex Bewley, Alex Irpan, Alexander Khazatsky, Anant Rai, Anchit Gupta, Andrew E. Wang, Anikait Singh, Animesh Garg, Aniruddha Kembhavi, Annie Xie, Anthony Brohan, Antonin Raffin, Archit Sharma, Arefeh Yavary, Arhan Jain, Ashwin Balakrishna, Ayzaan Wahid, Ben Burgess-Limerick, Bernhard Schölkopf, Blake Wulfe, Brian Ichter, Cewu Lu, Charles Xu 0003, Charlotte Le, Chelsea Finn, Chen Wang 0053, Chenfeng Xu, Cheng Chi 0001, Chenguang Huang, Christine Chan, Christopher Agia, Chuer Pan, Chuyuan Fu, Coline Devin, Danfei Xu, Daniel Morton, Danny Drieß, Daphne Chen, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dinesh Jayaraman, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns, Ethan Paul Foster, Fangchen Liu, Federico Ceola, Fei Xia 0002, Feiyu Zhao, Freek Stulp, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Gilbert Feng, Giulio Schiavi, Glen Berseth, Gregory Kahn, Guanzhi Wang, Hao Su 0001, Haoshu Fang, Henghui Bao, Heni Ben Amor, Henrik I. Christensen, Hiroki Furuta, Homer Walke, Hongjie Fang, Huy Ha, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jad Abou-Chakra, Jaehyung Kim 0001, Jaimyn Drake, Jan Peters 0001, Jan Schneider 0007, Jasmine Hsu, Jeannette Bohg, Jeffrey T. Bingham, Jensen Gao, Jiaheng Hu, Jiajun Wu 0001, Jiankai Sun, Jianlan Luo, Jiayuan Gu, Jie Tan 0001, Jihoon Oh, Jimmy Wu, Jingpei Lu, Jitendra Malik, João Silvério, Joey Hejna, Jonathan Booher, Jonathan Tompson, Jonathan Yang, Jordi Salvador, Joseph J. Lim, Junhyek Han, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Kenneth Y. Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Black, Kevin Zhang 0002, Kiana Ehsani, Kiran Lekkala, Kirsty Ellis, Krishan Rana, Krishnan Srinivasan, Kuan Fang, Kunal Pratap Singh, Kuo-Hao Zeng, Kyle Hatch, Kyle Hsu, Laurent Itti, Yunliang Chen 0001, Lerrel Pinto, Li Fei-Fei 0001, Liam Tan, Linxi Fan, Lionel Ott, Lisa Lee, Luca Weihs, Magnum Chen, Marion Lepert, Marius Memmel, Masayoshi Tomizuka, Masha Itkina, Mateo Guaman Castro, Max Spero, Maximilian Du, Michael Ahn, Michael C. Yip, Mingtong Zhang 0003, Mingyu Ding, Minho Heo, Mohan Kumar Srirama, Mohit Sharma 0001, Moo Jin Kim, Naoaki Kanazawa, Nicklas Hansen 0001, Nicolas Heess, Nikhil J. Joshi, Niko Sünderhauf, Norman Di Palo, Nur Muhammad Shafiullah, Oier Mees, Oliver Kroemer, Osbert Bastani, Pannag R. Sanketi, Patrick Tree Miller, Patrick Yin, Paul Wohlhart, Peng Xu 0010, Peter David Fagan, Peter Mitrano, Pierre Sermanet, Pieter Abbeel, Priya Sundaresan, Qiuyu Chen, Rafael Rafailov, Ria Doshi, Roberto Martin Martin, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante-Gomez, Sean Kirmani, Sergey Levine, Sherry Moore, Shikhar Bahl, Shivin Dass, Shubham D. Sonawani, Shuran Song, Sichun Xu, Siddhant Haldar, Siddharth Karamcheti, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Subramanian Ramamoorthy, Sudeep Dasari, Suneel Belkhale, Sungjae Park, Suraj Nair 0003, Suvir Mirchandani, Takayuki Osa, Tanmay Gupta, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Thomas Kollar, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Trinity Chung, Vidhi Jain, Vincent Vanhoucke, Wolfram Burgard, Xiaolong Wang 0004, Xinghao Zhu, Xinyang Geng, Liangwei Xu, Yecheng Jason Ma 0001, Yejin Kim 0003, Yevgen Chebotar, Yilin Wu 0003, Yonatan Bisk, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yueh-Hua Wu, Yujin Tang, Yuke Zhu, Yunchu Zhang, Yunfan Jiang 0001, Yunshuang Li, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zehan Ma, Zichen Jeff Cui, Zichen Zhang 0016, Zipeng Lin	ICRA	25
2024	Robot Fine-Tuning Made Easy: Pre-Training Rewards and Policies for Autonomous Real-World Reinforcement Learning abstract The pre-train and fine-tune paradigm in machine learning has had dramatic success in a wide range of domains because the use of existing data or pre-trained models on the internet enables quick and easy learning of new tasks. We aim to enable this paradigm in robotic reinforcement learning, allowing a robot to learn a new task with little human effort by leveraging data and models from the Internet. However, reinforcement learning often requires significant human effort in the form of manual reward specification or environment resets, even if the policy is pre-trained. We introduce RoboFuME, a reset-free fine-tuning system that pre-trains a multi-task manipulation policy from diverse datasets of prior experiences and self-improves online to learn a target task with minimal human intervention. Our insights are to utilize calibrated offline reinforcement learning techniques to ensure efficient online fine-tuning of a pre-trained policy in the presence of distribution shifts and leverage pre-trained vision language models (VLMs) to build a robust reward classifier for autonomously providing reward signals during the online fine-tuning process. In a diverse set of five real robot manipulation tasks, we show that our method can incorporate data from an existing robot dataset collected at a different institution and improve on a target task within as little as 3 hours of autonomous real-world experience. We also demonstrate in simulation experiments that our method outperforms prior works that use different RL algorithms or different approaches for predicting rewards. Project website: https://robofume.github.io Max Sobol Mark, Brandon Vu, Archit Sharma, Jeannette Bohg, Chelsea Finn	ICRA	4
2024	A Critical Evaluation of AI Feedback for Aligning Large Language Models abstract Learning from AI feedback (LAIF) is a popular paradigm for improving the instruction-following abilities of powerful pre-trained language models. LAIF first performs supervised fine-tuning (SFT) using demonstrations from a teacher model and then further fine-tunes the model with reinforcement learning (RL) or direct preference optimization (DPO), using feedback from a critic model. While recent popular open-source models have demonstrated substantial improvements in performance from the RL step, in this paper we question whether the complexity of this RL step is truly warranted for AI feedback. We show that the improvements of the RL step are virtually entirely due to the widespread practice of using a weaker teacher model (e.g. GPT-3.5) for SFT data collection than the critic (e.g., GPT-4) used for AI feedback generation. Specifically, we show that simple supervised fine-tuning with GPT-4 as the teacher outperforms existing LAIF pipelines. More generally, we find that the gains from LAIF vary substantially across base model families, test-time evaluation protocols, and critic models. Finally, we provide a mechanistic explanation for when SFT may outperform the full two-step LAIF pipeline as well as suggestions for making LAIF maximally useful in practice. Archit Sharma, Sedrick Keh, Eric Mitchell, Chelsea Finn, Kushal Arora, Thomas Kollar	NeurIPS	1
2023	Just Ask for Calibration: Strategies for Eliciting Calibrated Confidence Scores from Language Models Fine-Tuned with Human Feedback abstract Katherine Tian, Eric Mitchell, Allan Zhou, Archit Sharma, Rafael Rafailov, Huaxiu Yao, Chelsea Finn, Christopher Manning. Proceedings of the 2023 Conference on Empirical Methods in Natural Language Processing. 2023. Katherine Tian, Eric Mitchell, Allan Zhou, Archit Sharma, Rafael Rafailov, Huaxiu Yao, Chelsea Finn, Christopher D. Manning	EMNLP	4
2023	Direct Preference Optimization: Your Language Model is Secretly a Reward Model abstract While large-scale unsupervised language models (LMs) learn broad world knowledge and some reasoning skills, achieving precise control of their behavior is difficult due to the completely unsupervised nature of their training. Existing methods for gaining such steerability collect human labels of the relative quality of model generations and fine-tune the unsupervised LM to align with these preferences, often with reinforcement learning from human feedback (RLHF). However, RLHF is a complex and often unstable procedure, first fitting a reward model that reflects the human preferences, and then fine-tuning the large unsupervised LM using reinforcement learning to maximize this estimated reward without drifting too far from the original model. In this paper, we leverage a mapping between reward functions and optimal policies to show that this constrained reward maximization problem can be optimized exactly with a single stage of policy training, essentially solving a classification problem on the human preference data. The resulting algorithm, which we call Direct Preference Optimization (DPO), is stable, performant, and computationally lightweight, eliminating the need for fitting a reward model, sampling from the LM during fine-tuning, or performing significant hyperparameter tuning. Our experiments show that DPO can fine-tune LMs to align with human preferences as well as or better than existing methods. Notably, fine-tuning with DPO exceeds RLHF's ability to control sentiment of generations and improves response quality in summarization and single-turn dialogue while being substantially simpler to implement and train. Rafael Rafailov, Archit Sharma, Eric Mitchell, Christopher D. Manning, Stefano Ermon, Chelsea Finn	NeurIPS	2
2022	Autonomous Reinforcement Learning: Formalism and Benchmarking Archit Sharma, Kelvin Xu, Nikhil Sardana, Abhishek Gupta 0004, Karol Hausman, Sergey Levine, Chelsea Finn	ICLR	1
2022	A State-Distribution Matching Approach to Non-Episodic Reinforcement Learning abstract While reinforcement learning (RL) provides a framework for learning through trial and error, translating RL algorithms into the real world has remained challenging. A major hurdle to real-world application arises from the development of algorithms in an episodic setting where the environment is reset after every trial, in contrast with the continual and non-episodic nature of the real-world encountered by embodied agents such as humans and robots. Enabling agents to learn behaviors autonomously in such non-episodic environments requires that the agent to be able to conduct its own trials. Prior works have considered an alternating approach where a forward policy learns to solve the task and the backward policy learns to reset the environment, but what initial state distribution should the backward policy reset the agent to? Assuming access to a few demonstrations, we propose a new method, MEDAL, that trains the backward policy to match the state distribution in the provided demonstrations. This keeps the agent close to the task-relevant states, allowing for a mix of easy and difficult starting states for the forward policy. Our experiments show that MEDAL matches or outperforms prior methods on three sparse-reward continuous control tasks from the EARL benchmark, with 40% gains on the hardest task, while making fewer assumptions than prior works. Archit Sharma, Rehaan Ahmad, Chelsea Finn	ICML	1
2022	You Only Live Once: Single-Life Reinforcement Learning abstract Reinforcement learning algorithms are typically designed to learn a performant policy that can repeatedly and autonomously complete a task, usually starting from scratch. However, in many real-world situations, the goal might not be to learn a policy that can do the task repeatedly, but simply to perform a new task successfully once in a single trial. For example, imagine a disaster relief robot tasked with retrieving an item from a fallen building, where it cannot get direct supervision from humans. It must retrieve this object within one test-time trial, and must do so while tackling unknown obstacles, though it may leverage knowledge it has of the building before the disaster. We formalize this problem setting, which we call single-life reinforcement learning (SLRL), where an agent must complete a task within a single episode without interventions, utilizing its prior experience while contending with some form of novelty. SLRL provides a natural setting to study the challenge of autonomously adapting to unfamiliar situations, and we find that algorithms designed for standard episodic reinforcement learning often struggle to recover from out-of-distribution states in this setting. Motivated by this observation, we propose an algorithm, Q-weighted adversarial learning (QWALE), which employs a distribution matching strategy that leverages the agent's prior experience as guidance in novel situations. Our experiments on several single-life continuous control problems indicate that methods based on our distribution matching formulation are 20-60% more successful because they can more quickly recover from novel states. Annie S. Chen, Archit Sharma, Sergey Levine, Chelsea Finn	NeurIPS	2
2022	When to Ask for Help: Proactive Interventions in Autonomous Reinforcement Learning abstract A long-term goal of reinforcement learning is to design agents that can autonomously interact and learn in the world. A critical challenge to such autonomy is the presence of irreversible states which require external assistance to recover from, such as when a robot arm has pushed an object off of a table. While standard agents require constant monitoring to decide when to intervene, we aim to design proactive agents that can request human intervention only when needed. To this end, we propose an algorithm that efficiently learns to detect and avoid states that are irreversible, and proactively asks for help in case the agent does enter them. On a suite of continuous control environments with unknown irreversible states, we find that our algorithm exhibits better sample- and intervention-efficiency compared to existing methods. Annie Xie, Fahim Tajwar, Archit Sharma, Chelsea Finn	NeurIPS	3
2021	Variational Empowerment as Representation Learning for Goal-Conditioned Reinforcement Learning abstract Learning to reach goal states and learning diverse skills through mutual information maximization have been proposed as principled frameworks for unsupervised reinforcement learning, allowing agents to acquire broadly applicable multi-task policies with minimal reward engineering. In this paper, we discuss how these two approaches {—} goal-conditioned RL (GCRL) and MI-based RL {—} can be generalized into a single family of methods, interpreting mutual information maximization and variational empowerment as representation learning methods that acquire function-ally aware state representations for goal reaching.Starting from a simple observation that the standard GCRL is encapsulated by the optimization objective of variational empowerment, we can derive novel variants of GCRL and variational empowerment under a single, unified optimization objective, such as adaptive-variance GCRL and linear-mapping GCRL, and study the characteristics of representation learning each variant provides. Furthermore, through the lens of GCRL, we show that adapting powerful techniques fromGCRL such as goal relabeling into the variationalMI context as well as proper regularization on the variational posterior provides substantial gains in algorithm performance, and propose a novel evaluation metric named latent goal reaching (LGR)as an objective measure for evaluating empowerment algorithms akin to goal-based RL. Through principled mathematical derivations and careful experimental validations, our work lays a novel foundation from which representation learning can be evaluated and analyzed in goal-based RL Archit Sharma, Honglak Lee, Sergey Levine, Shixiang Gu	ICML	2
2021	Autonomous Reinforcement Learning via Subgoal Curricula abstract Reinforcement learning (RL) promises to enable autonomous acquisition of complex behaviors for diverse agents. However, the success of current reinforcement learning algorithms is predicated on an often under-emphasised requirement -- each trial needs to start from a fixed initial state distribution. Unfortunately, resetting the environment to its initial state after each trial requires substantial amount of human supervision and extensive instrumentation of the environment which defeats the goal of autonomous acquisition of complex behaviors. In this work, we propose Value-accelerated Persistent Reinforcement Learning (VaPRL), which generates a curriculum of initial states such that the agent can bootstrap on the success of easier tasks to efficiently learn harder tasks. The agent also learns to reach the initial states proposed by the curriculum, minimizing the reliance on human interventions into the learning. We observe that VaPRL reduces the interventions required by three orders of magnitude compared to episodic RL while outperforming prior state-of-the art methods for reset-free RL both in terms of sample efficiency and asymptotic performance on a variety of simulated robotics problems. Archit Sharma, Abhishek Gupta 0004, Sergey Levine, Karol Hausman, Chelsea Finn	NeurIPS	1
2020	Dynamics-Aware Unsupervised Discovery of Skills Archit Sharma, Shixiang Gu, Sergey Levine, Karol Hausman	ICLR	1
2019	A flexible probabilistic framework for large-margin mixture of experts Archit Sharma, Siddhartha Saxena, Piyush Rai	Mach. Learn.	1