Related papers: Learning Acrobatic Flight from Preferences

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…

Preference-based reinforcement learning (PbRL) bypasses explicit reward engineering by inferring reward functions from human preference comparisons, enabling better alignment with human intentions. However, humans often struggle to label a…

Reinforcement Learning has suffered from poor reward specification, and issues for reward hacking even in simple enough domains. Preference Based Reinforcement Learning attempts to solve the issue by utilizing binary feedbacks on queried…

Post-training has split large language model (LLM) alignment into two largely disconnected tracks. Online reinforcement learning (RL) with verifiable rewards drives emergent reasoning on math and code but depends on a programmatic verifier…

Many sequential decision-making tasks involve optimizing multiple conflicting objectives, requiring policies that adapt to different user preferences. In multi-objective reinforcement learning (MORL), one widely studied approach} addresses…

As AI systems become increasingly autonomous, reliably aligning their decision-making with human preferences is essential. Inverse reinforcement learning (IRL) offers a promising approach to infer preferences from demonstrations. These…

Preference-based reinforcement learning (PbRL) can help avoid sophisticated reward designs and align better with human intentions, showing great promise in various real-world applications. However, obtaining human feedback for preferences…

Preference-based Reinforcement Learning (PbRL) entails a variety of approaches for aligning models with human intent to alleviate the burden of reward engineering. However, most previous PbRL work has not investigated the robustness to…

As a robot's operational environment and tasks to perform within it grow in complexity, the explicit specification and balancing of optimization objectives to achieve a preferred behavior profile moves increasingly farther out of reach.…

The main challenge in developing effective reinforcement learning (RL) pipelines is often the design and tuning the reward functions. Well-designed shaping reward can lead to significantly faster learning. Naively formulated rewards,…

Preference-based reinforcement learning (RL) provides a framework to train agents using human preferences between two behaviors. However, preference-based RL has been challenging to scale since it requires a large amount of human feedback…

Preference-based reinforcement learning (PbRL) provides a powerful paradigm to avoid meticulous reward engineering by learning rewards based on human preferences. However, real-time human feedback is hard to obtain in online tasks. Most…

Reinforcement learning (RL) has demonstrated the ability to maintain the plasticity of the policy throughout short-term training in aerial robot control. However, these policies have been shown to loss of plasticity when extended to…

While reinforcement learning (RL) has become a more popular approach for robotics, designing sufficiently informative reward functions for complex tasks has proven to be extremely difficult due their inability to capture human intent and…

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,…

In this paper, we address the issue of fairness in preference-based reinforcement learning (PbRL) in the presence of multiple objectives. The main objective is to design control policies that can optimize multiple objectives while treating…

Bayesian inverse reinforcement learning (IRL) methods are ideal for safe imitation learning, as they allow a learning agent to reason about reward uncertainty and the safety of a learned policy. However, Bayesian IRL is computationally…

Multi-objective reinforcement learning (MORL) is a structured approach for optimizing tasks with multiple objectives. However, it often relies on pre-defined reward functions, which can be hard to design for balancing conflicting goals and…

Agentic reinforcement learning (Agentic RL) has achieved strong progress in tasks with clear success signals. However, many real-world agent applications require user-conditioned behavior: the same query may call for different planning…

This paper explores multiple optimization methods to improve the performance of rating-based reinforcement learning (RbRL). RbRL, a method based on the idea of human ratings, has been developed to infer reward functions in reward-free…