Related papers: Predictive Preference Learning from Human Interven…
While reinforcement learning (RL) enables robots to acquire skills autonomously, its real-world deployment is severely limited by inefficient and unsafe exploration. Human-in-the-loop interventions offer a practical solution, yet existing…
To design rewards that align with human goals, Reinforcement Learning from Human Feedback (RLHF) has emerged as a prominent technique for learning reward functions from human preferences and optimizing policies via reinforcement learning…
Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often…
Ensuring AI models align with human values is essential for their safety and functionality. Reinforcement learning from human feedback (RLHF) leverages human preferences to achieve this alignment. However, when preferences are sourced from…
Reinforcement Learning from Human Feedback (RLHF) is a widely used approach to align large-scale AI systems with human values. However, RLHF typically assumes a single, universal reward, which overlooks diverse preferences and limits…
We study human-in-the-loop reinforcement learning (RL) with trajectory preferences, where instead of receiving a numeric reward at each step, the agent only receives preferences over trajectory pairs from a human overseer. The goal of the…
For AI systems to be useful to humans, they must understand and act in accordance with our values and preferences. Since specifying preferences is a hard task, inverse reinforcement learning (IRL) aims to develop methods that allow for…
Offline preference-based reinforcement learning (RL), which focuses on optimizing policies using human preferences between pairs of trajectory segments selected from an offline dataset, has emerged as a practical avenue for RL applications.…
Reinforcement Learning from Human Feedback (RLHF) has emerged as a popular paradigm for aligning models with human intent. Typically RLHF algorithms operate in two phases: first, use human preferences to learn a reward function and second,…
As multi-robot systems (MRS) are widely used in various tasks such as natural disaster response and social security, people enthusiastically expect an MRS to be ubiquitous that a general user without heavy training can easily operate.…
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) offers a promising approach for aligning policies with human intent but is often constrained by the high cost of human feedback. In this work, we introduce PrefVLM, a framework that integrates…
Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However,…
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…
Large foundation models pretrained on raw web-scale data are not readily deployable without additional step of extensive alignment to human preferences. Such alignment is typically done by collecting large amounts of pairwise comparisons…
Inverse reinforcement learning (IRL) is a common technique for inferring human preferences from data. Standard IRL techniques tend to assume that the human demonstrator is stationary, that is that their policy $\pi$ doesn't change over…
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 (RLHF) has recently surged in popularity, particularly for aligning large language models and other AI systems with human intentions. At its core, RLHF can be viewed as a specialized instance of…
Reinforcement learning (RL) requires skillful definition and remarkable computational efforts to solve optimization and control problems, which could impair its prospect. Introducing human guidance into reinforcement learning is a promising…
Multi-objective reinforcement learning (MORL) aims to find a set of high-performing and diverse policies that address trade-offs between multiple conflicting objectives. However, in practice, decision makers (DMs) often deploy only one or a…