相关论文: Learning Reward Functions from Diverse Sources of …

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

Learning from human feedback has shown to be a useful approach in acquiring robot reward functions. However, expert feedback is often assumed to be drawn from an underlying unimodal reward function. This assumption does not always hold…

Reward learning algorithms utilize human feedback to infer a reward function, which is then used to train an AI system. This human feedback is often a preference comparison, in which the human teacher compares several samples of AI behavior…

It is often difficult to hand-specify what the correct reward function is for a task, so researchers have instead aimed to learn reward functions from human behavior or feedback. The types of behavior interpreted as evidence of the reward…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Preference-based reward learning is a popular technique for teaching robots and autonomous systems how a human user wants them to perform a task. Previous works have shown that actively synthesizing preference queries to maximize…

Reward learning enables robots to learn adaptable behaviors from human input. Traditional methods model the reward as a linear function of hand-crafted features, but that requires specifying all the relevant features a priori, which is…

In the physical world, people have dynamic preferences, e.g., the same situation can lead to satisfaction for some humans and to frustration for others. Personalization is called for. The same observation holds for online behavior with…

When a person is not satisfied with how a robot performs a task, they can intervene to correct it. Reward learning methods enable the robot to adapt its reward function online based on such human input, but they rely on handcrafted…

Robots can learn from humans by asking questions. In these questions the robot demonstrates a few different behaviors and asks the human for their favorite. But how should robots choose which questions to ask? Today's robots optimize for…

Learning rewards from preference feedback has become an important tool in the alignment of agentic models. Preference-based feedback, often implemented as a binary comparison between multiple completions, is an established method to acquire…

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…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Today's robots are increasingly interacting with people and need to efficiently learn inexperienced user's preferences. A common framework is to iteratively query the user about which of two presented robot trajectories they prefer. While…

Robots can learn the right reward function by querying a human expert. Existing approaches attempt to choose questions where the robot is most uncertain about the human's response; however, they do not consider how easy it will be for the…

When a robot learns from human examples, most approaches assume that the human partner provides examples of optimal behavior. However, there are applications in which the robot learns from non-expert humans. We argue that the robot should…

Reinforcement learning from human feedback usually models preferences using a reward function that does not distinguish between people. We argue that this is unlikely to be a good design choice in contexts with high potential for…

Our goal is to accurately and efficiently learn reward functions for autonomous robots. Current approaches to this problem include inverse reinforcement learning (IRL), which uses expert demonstrations, and preference-based learning, which…

Humans use social context to specify preferences over behaviors, i.e. their reward functions. Yet, algorithms for inferring reward models from preference data do not take this social learning view into account. Inspired by pragmatic human…

Reward function, as an incentive representation that recognizes humans' agency and rationalizes humans' actions, is particularly appealing for modeling human behavior in human-robot interaction. Inverse Reinforcement Learning is an…