用代码自动生成奖励函数,让虚拟代理学会多样行为。
CORE: Code-based Inverse Self-Training Framework with Graph Expansion for Virtual Agents
- 用语义代码抽象从专家演示中自动推导奖励函数。
- 构建策略图提升任务内行为多样性,覆盖更多有效解法。
- 利用成功与失败轨迹扩展域外行为,增强泛化能力。
多模态虚拟代理的发展得益于多模态大语言模型的融合。然而主流训练范式面临关键挑战:行为克隆虽简单有效但行为多样性低;强化学习可探索新策略却严重依赖人工设计奖励函数。为解决两者矛盾,本文提出CORE——一种基于代码的逆自训练框架与图扩张机制,连接模仿与探索,实现高行为多样性且无需人工设计奖励。具体地,通过语义代码抽象,从专家示范中自动推导奖励函数(称作标签函数),该函数为可执行代码,用于验证任务中的关键步骤。在此基础上,提出策略图扩张,构建多路径策略图,捕捉超越专家示范的多样化有效解法。进一步引入轨迹引导外推,利用成功与失败轨迹扩展任务空间,丰富域外行为多样性。在Web与Android平台上的实验表明,CORE显著提升整体性能与泛化能力,展现出作为强大、通用训练范式的潜力。
原文摘要 · Abstract (English)
The development of Multimodal Virtual Agents has made significant progress through the integration of Multimodal Large Language Models. However, mainstream training paradigms face key challenges: Behavior Cloning is simple and effective through imitation but suffers from low behavioral diversity, while Reinforcement Learning is capable of discovering novel strategies through exploration but heavily relies on manually designed reward functions. To address the conflict between these two methods, we present CORE, a Code-based Inverse Self-Training Framework with Graph Expansion that bridges imitation and exploration, offering a novel training framework that promotes behavioral diversity while eliminating the reliance on manually reward design. Specifically, we introduce Semantic Code Abstraction to automatically infers reward functions from expert demonstrations without manual design. The inferred reward function, referred to as the Label Function, is executable code that verifies one key step within a task. Building on this, we propose Strategy Graph Expansion to enhance in-domain behavioral diversity, which constructs a multi-path graph called Strategy Graph that captures diverse valid solutions beyond expert demonstrations. Furthermore, we introduce Trajectory-Guided Extrapolation, which enriches out-of-domain behavioral diversity by utilizing both successful and failed trajectories to expand the task space. Experiments on Web and Android platforms demonstrate that CORE significantly improves both overall performance and generalization, highlighting its potential as a robust and generalizable training paradigm for building powerful virtual agents.
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