Related papers: APRICOT: Active Preference Learning and Constraint…

An embodied agent assisting humans is often asked to complete new tasks, and there may not be sufficient time or labeled examples to train the agent to perform these new tasks. Large Language Models (LLMs) trained on considerable knowledge…

Natural language instructions are often abstract and complex, requiring robots to execute multiple subtasks even for seemingly simple queries. For example, when a user asks a robot to prepare avocado toast, the task involves several…

With the rapid advancement of artificial intelligence, there is an increasing demand for intelligent robots capable of assisting humans in daily tasks and performing complex operations. Such robots not only require task planning…

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

We present Preference Flow Matching (PFM), a new framework for preference-based reinforcement learning (PbRL) that streamlines the integration of preferences into an arbitrary class of pre-trained models. Existing PbRL methods require…

Motivated by an application of eliciting users' preferences, we investigate the problem of learning hemimetrics, i.e., pairwise distances among a set of $n$ items that satisfy triangle inequalities and non-negativity constraints. In our…

We present a novel LLM-informed model-based planning framework, and a novel prompt selection method, for object search in partially-known environments. Our approach uses an LLM to estimate statistics about the likelihood of finding the…

A common approach to personalization in large language models (LLMs) is to incorporate a subset of the user memory into the prompt at inference time to guide the model's generation. Existing methods select these subsets primarily using…

Preference learning is critical for aligning large language models (LLMs) with human values, with the quality of preference datasets playing a crucial role in this process. While existing metrics primarily assess data quality based on…

Preference-based Reinforcement Learning (PbRL) enables policy learning through simple queries comparing trajectories from a single policy. While human responses to these queries make it possible to learn policies aligned with human…

A common technique for aligning large language models (LLMs) relies on acquiring human preferences by comparing multiple generations conditioned on a fixed context. This method, however, relies solely on pairwise comparisons, where the…

We study the problem of eliciting the preferences of a decision-maker through a moderate number of pairwise comparison queries to make them a high quality recommendation for a specific problem. We are motivated by applications in high…

In this paper we model the problem of learning preferences of a population as an active learning problem. We propose an algorithm can adaptively choose pairs of items to show to users coming from a heterogeneous population, and use the…

While robots have previously utilized rule-based systems or probabilistic models for user interaction, the rapid evolution of large language models (LLMs) presents new opportunities to develop LLM-powered robots for enhanced human-robot…

Collaborative robots must quickly adapt to their partner's intent and preferences to proactively identify helpful actions. This is especially true in situated settings where human partners can continually teach robots new high-level…

Background and Context. The increasing integration of large language models (LLMs) in computing education presents an emerging challenge in understanding how students use LLMs and craft prompts to solve computational tasks. Prior research…

Effective learning of user preferences is critical to easing user burden in various types of matching problems. Equally important is active query selection to further reduce the amount of preference information users must provide. We…

Aligning large language models (LLMs) with diverse and multifaceted user preferences is a fundamental challenge in personalized AI systems. Existing multi-objective alignment methods either rely on costly training or require pre-trained…

Large Language Models (LLMs) excel at producing broadly relevant text, but this generality becomes a limitation when user-specific preferences are required, such as recommending restaurants or planning travel. In these scenarios, users…

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized…