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Reinforcement learning from human feedback (RLHF) is a prevalent approach to align AI systems with human values by learning rewards from human preference data. Due to various reasons, however, such data typically takes the form of rankings…
Designing an effective reward function has long been a challenge in reinforcement learning, particularly for complex tasks in unstructured environments. To address this, various learning paradigms have emerged that leverage different forms…
For sophisticated reinforcement learning (RL) systems to interact usefully with real-world environments, we need to communicate complex goals to these systems. In this work, we explore goals defined in terms of (non-expert) human…
Rule-based rewards offer a promising strategy for improving reinforcement learning from human feedback (RLHF), but current approaches often rely on manual rule engineering. We present AutoRule, a fully automated method for extracting rules…
In preference-based reinforcement learning (PbRL), a reward function is learned from a type of human feedback called preference. To expedite preference collection, recent works have leveraged \emph{offline preferences}, which are…
Mechanical ventilation is a critical life support intervention that delivers controlled air and oxygen to a patient's lungs, assisting or replacing spontaneous breathing. While several data-driven approaches have been proposed to optimize…
Imitation by observation is an approach for learning from expert demonstrations that lack action information, such as videos. Recent approaches to this problem can be placed into two broad categories: training dynamics models that aim to…
Human-in-the-loop reinforcement learning allows the training of agents through various interfaces, even for non-expert humans. Recently, preference-based methods (PbRL), where the human has to give his preference over two trajectories,…
Reinforcement Learning from Human Feedback (\textbf{RLHF}) has emerged as a dominant approach for aligning LLM outputs with human preferences. Inspired by the success of RLHF, we study the performance of multiple algorithms that learn from…
Reinforcement Learning (RL) in environments with complex, history-dependent reward structures poses significant challenges for traditional methods. In this work, we introduce a novel approach that leverages automaton-based feedback to guide…
Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…
Acquiring complex behaviors is essential for artificially intelligent agents, yet learning these behaviors in high-dimensional settings poses a significant challenge due to the vast search space. Traditional reinforcement learning (RL)…
Providing a suitable reward function to reinforcement learning can be difficult in many real world applications. While inverse reinforcement learning (IRL) holds promise for automatically learning reward functions from demonstrations,…
In many real-world tasks, it is not possible to procedurally specify an RL agent's reward function. In such cases, a reward function must instead be learned from interacting with and observing humans. However, current techniques for reward…
Preference-based reinforcement learning (PbRL) aligns a robot behavior with human preferences via a reward function learned from binary feedback over agent behaviors. We show that dynamics-aware reward functions improve the sample…
Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…
We model human decision-making behaviors in a risk-taking task using inverse reinforcement learning (IRL) for the purposes of understanding real human decision making under risk. To the best of our knowledge, this is the first work applying…
Reinforcement Learning from Human Feedback (RLHF) typically relies on static reward models to align Large Language Models with human preferences. However, human values are inherently diverse and heterogeneous, and a single reward model…
We propose a new framework for imitation learning -- treating imitation as a two-player ranking-based game between a policy and a reward. In this game, the reward agent learns to satisfy pairwise performance rankings between behaviors,…
Inverse Reinforcement Learning (IRL) and Reinforcement Learning from Human Feedback (RLHF) are pivotal methodologies in reward learning, which involve inferring and shaping the underlying reward function of sequential decision-making…