Related papers: APRICOT: Active Preference Learning and Constraint…

Preference-based feedback is important for many applications in machine learning where evaluation of a reward function is not feasible. Notable recent examples arise in preference alignment for large language models, including in…

Large Language Models (LLMs) are increasingly being used for interactive decision-making tasks requiring planning and adapting to the environment. Recent works employ LLMs-as-agents in broadly two ways: iteratively determining the next…

As LLMs become capable of complex tasks, there is growing potential for personalized interactions tailored to the subtle and idiosyncratic preferences of the user. We present a public benchmark, PersonalLLM, focusing on adapting LLMs to…

We introduce Large Language Model-Assisted Preference Prediction (LAPP), a novel framework for robot learning that enables efficient, customizable, and expressive behavior acquisition with minimum human effort. Unlike prior approaches that…

Preference-based learning aims to align robot task objectives with human values. One of the most common methods to infer human preferences is by pairwise comparisons of robot task trajectories. Traditional comparison-based preference…

Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficult for a single contact; with whole-arm interaction involving…

Humans often interact with large language models (LLMs) in multi-turn interaction to obtain desired answers or more information. However, most existing studies overlook the multi-turn instruction following ability of LLMs, in terms of…

Models of human feedback for AI alignment, such as those underpinning Direct Preference Optimization (DPO), often bake in a singular, static set of preferences, limiting adaptability. This paper challenges the assumption of monolithic…

Large language models (LLMs) have shown remarkable success, but aligning them with human preferences remains a core challenge. As individuals have their own, multi-dimensional preferences, recent studies have explored multi-dimensional…

While recent advancements in aligning Large Language Models (LLMs) with recommendation tasks have shown great potential and promising performance overall, these aligned recommendation LLMs still face challenges in complex scenarios. This is…

As a part of an embodied agent, Large Language Models (LLMs) are typically used for behavior planning given natural language instructions from the user. However, dealing with ambiguous instructions in real-world environments remains a…

Customizing robotic behaviors to be aligned with diverse human preferences is an underexplored challenge in the field of embodied AI. In this paper, we present Promptable Behaviors, a novel framework that facilitates efficient…

Preference-based reinforcement learning (RL) has emerged as a new field in robot learning, where humans play a pivotal role in shaping robot behavior by expressing preferences on different sequences of state-action pairs. However,…

A critical factor in the success of decision support systems is the accurate modeling of user preferences. Psychology research has demonstrated that users often develop their preferences during the elicitation process, highlighting the…

Robot motion planning often requires finding trajectories that balance different user intents, or preferences. One of these preferences is usually arrival at the goal, while another might be obstacle avoidance. Here, we formalize these, and…

The rise of large language models (LLMs) has enabled LLM-based applications (a.k.a. AI agents or co-pilots), a new software paradigm that combines the strength of LLM and conventional software. Diverse LLM applications from different…

As LLMs continue to scale, improving training efficiency increasingly depends on using data more effectively. Data selection addresses this problem by allocating a limited training budget to samples that best promote a target behavior.…

The observed similarities in the behavior of humans and Large Language Models (LLMs) have prompted researchers to consider the potential of using LLMs as models of human cognition. However, several significant challenges must be addressed…

Specifying complex task behaviours while ensuring good robot performance may be difficult for untrained users. We study a framework for users to specify rules for acceptable behaviour in a shared environment such as industrial facilities.…

User preferences are increasingly used to personalize Large Language Model (LLM) responses, yet how to reliably leverage preference signals for answer generation remains under-explored. In practice, preferences can be noisy, incomplete, or…