相关论文: Skill Preferences: Learning to Extract and Execute…

Data generation and labeling are often expensive in robot learning. Preference-based learning is a concept that enables reliable labeling by querying users with preference questions. Active querying methods are commonly employed in…

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…

Learning from human feedback has enabled the alignment of language models (LMs) with human preferences. However, collecting human preferences is expensive and time-consuming, with highly variable annotation quality. An appealing alternative…

Human feedback is increasingly used to steer the behaviours of Large Language Models (LLMs). However, it is unclear how to collect and incorporate feedback in a way that is efficient, effective and unbiased, especially for highly subjective…

We study active preference learning as a framework for intuitively specifying the behaviour of autonomous robots. In active preference learning, a user chooses the preferred behaviour from a set of alternatives, from which the robot learns…

This paper presents an exploration of preference learning in text-to-motion generation. We find that current improvements in text-to-motion generation still rely on datasets requiring expert labelers with motion capture systems. Instead,…

With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…

Learning from human preferences is important for language models to match human needs and to align with human and social values. Prior works have achieved remarkable successes by learning from human feedback to understand and follow…

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

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…

There is a growing interest in developing automated agents that can work alongside humans. In addition to completing the assigned task, such an agent will undoubtedly be expected to behave in a manner that is preferred by the human. This…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Recent progress in strengthening the capabilities of large language models has stemmed from applying reinforcement learning to domains with automatically verifiable outcomes. A key question is whether we can similarly use RL to optimize for…

Generalizing from individual skill executions to solving long-horizon tasks remains a core challenge in building autonomous agents. A promising direction is learning high-level, symbolic abstractions of the low-level skills of the agents,…

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…

Identifying statistical regularities in solutions to some tasks in multi-task reinforcement learning can accelerate the learning of new tasks. Skill learning offers one way of identifying these regularities by decomposing pre-collected…

Synthesizing graceful and life-like behaviors for physically simulated characters has been a fundamental challenge in computer animation. Data-driven methods that leverage motion tracking are a prominent class of techniques for producing…

Learning the preferences of a human improves the quality of the interaction with the human. The number of queries available to learn preferences maybe limited especially when interacting with a human, and so active learning is a must. One…

Interactive preference learning systems infer human preferences by presenting queries as pairs of options and collecting binary choices. Although binary choices are simple and widely used, they provide limited information about preference…

Aligning large language models (LLMs) with human preferences remains a key challenge in AI. Preference-based optimization methods, such as Reinforcement Learning with Human Feedback (RLHF) and Direct Preference Optimization (DPO), rely on…