Reinforcement Learning

Mohamed Nabail, Leo Kaixuan Cheng*, Jingmin Wang*, Nicholas Rhinehart.
UBP2: Uncertainty-Balanced Preference Planning for Efficient Preference-based Reinforcement Learning.
arXiv:2606.19328, (arXiv), 2026.

Reinforcement Learning Machine Learning Model-Based Control Robotics Reward Learning

QPILOTS: Efficient Test-Time Q-Steering for Flow Policies

Yifan Ruan, Chenyang Cao, Andreas Burger, Ali Pesaranghader, Kaveh Kamali, Jaehong Kim, Nandita Vijaykumar, Alan Aspuru-Guzik, Igor Gilitschenski, Nicholas Rhinehart.
QPILOTS: Efficient Test-Time Q-Steering for Flow Policies.
arXiv:2606.14801, (arXiv), 2026.

Reinforcement Learning Machine Learning Robotics Generative Models

Residual Reward Models for Preference-based Reinforcement Learning

Chenyang Cao, Miguel Rogel-García, Mohamed Nabail, Xueqian Wang, Nicholas Rhinehart.
Residual Reward Models for Preference-based Reinforcement Learning.
arXiv:2507.00611, (arXiv), 2025.

Reward Learning Machine Learning Robotics Reinforcement Learning Manipulation

James R. Han, Hugues Thomas, Jian Zhang, Nicholas Rhinehart, Timothy D. Barfoot.
DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigation.
IEEE Robotics and Automation Letters, (RA-L), 2025.

Computer Vision Forecasting Machine Learning Model-Based Control Robotics Reinforcement Learning Social Navigation

Dhruv Shah, Arjun Bhorkar, Hrish Leen, Ilya Kostrikov, Nicholas Rhinehart, Sergey Levine.
Offline reinforcement learning for visual navigation.
Conference on Robot Learning, (CoRL), 2022.

Computer Vision Machine Learning Offroad Navigation Reinforcement Learning Robotics

Information is power: Intrinsic control via information capture

Nicholas Rhinehart, Jenny Wang, Glen Berseth, John Co-Reyes, Danijar Hafner, Chelsea Finn, Sergey Levine.
Information is power: Intrinsic control via information capture.
Advances in Neural Information Processing Systems, (NeurIPS), 2021.

Autonomous Exploration Intrinsic Control Generative Models Reinforcement Learning

Adversarial surprise exploration result animation

Arnaud Fickinger, Natasha Jaques, Samyak Parajuli, Michael Chang, Nicholas Rhinehart, Glen Berseth, Stuart Russell, Sergey Levine.
Explore and control with adversarial surprise.
arXiv preprint arXiv:2107.07394, 2021.

Reinforcement Learning Autonomous Exploration Intrinsic Control Machine Learning

Conservative safety critics result animation

Homanga Bharadhwaj, Aviral Kumar, Nicholas Rhinehart, Sergey Levine, Florian Shkurti, Animesh Garg.
Conservative safety critics for exploration.
International Conference on Represetation Learning, (ICLR), 2020.

Reinforcement Learning Autonomous Exploration Machine Learning

Glen Berseth, Daniel Geng, Coline Devin, Nicholas Rhinehart, Chelsea Finn, Dinesh Jayaraman, Sergey Levine.
SMiRL: Surprise Minimizing RL in Dynamic Environments.
International Conference on Representation Learning, (ICLR), 2019.

Reinforcement Learning Intrinsic Control Machine Learning Autonomous Exploration

Jointly Forecasting and Controlling Behavior by Learning from High-Dimensional Data

Nicholas Rhinehart.
Jointly Forecasting and Controlling Behavior by Learning from High-Dimensional Data.
2019.

Autonomous Driving Forecasting Generative Models Imitation Learning Model-Based Control Reinforcement Learning Reward Learning

N2N learning: Network to Network Compression via Policy Gradient Reinforcement Learning

Anubhav Ashok, Nicholas Rhinehart, Fares Beainy, Kris M. Kitani.
N2N learning: Network to Network Compression via Policy Gradient Reinforcement Learning.
International Conference on Learning Representations, (ICLR), 2018.

Compression Machine Learning Reinforcement Learning

Predictive-state decoders: Encoding the future into recurrent networks

Arun Venkatraman, Nicholas Rhinehart, Wen Sun, Lerrel Pinto, Martial Hebert, Byron Boots, Kris M. Kitani, J. A. Bagnell.
Predictive-state decoders: Encoding the future into recurrent networks.
Advances in Neural Information Processing Systems, (NeurIPS), 2017.

Imitation Learning Forecasting Machine Learning Reinforcement Learning