相关论文: PEARL: Zero-shot Cross-task Preference Alignment a…

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 (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,…

Reward functions are difficult to design and often hard to align with human intent. Preference-based Reinforcement Learning (RL) algorithms address these problems by learning reward functions from human feedback. However, the majority of…

When operating in service of people, robots need to optimize rewards aligned with end-user preferences. Since robots will rely on raw perceptual inputs like RGB images, their rewards will inevitably use visual representations. Recently…

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…

Visuomotor robot policies, increasingly pre-trained on large-scale datasets, promise significant advancements across robotics domains. However, aligning these policies with end-user preferences remains a challenge, particularly when the…

Meta Reinforcement Learning (Meta-RL) has seen substantial advancements recently. In particular, off-policy methods were developed to improve the data efficiency of Meta-RL techniques. \textit{Probabilistic embeddings for actor-critic RL}…

Catastrophic forgetting has remained a critical challenge for deep neural networks in Continual Learning (CL) as it undermines consolidated knowledge when learning new tasks. Parameter efficient fine tuning CL techniques are gaining…

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…

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…

Preference-based reinforcement learning (PbRL) is a suitable approach for style adaptation of pre-trained robotic behavior: adapting the robot's policy to follow human user preferences while still being able to perform the original task.…

Preference-based reinforcement learning (PbRL) promises to learn a complex reward function with binary human preference. However, such human-in-the-loop formulation requires considerable human effort to assign preference labels to segment…

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…

Preference-based reinforcement learning (PbRL) aligns a robot behavior with human preferences via a reward function learned from binary feedback over agent behaviors. We show that dynamics-aware reward functions improve the sample…

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…

Offline preference-based reinforcement learning (PbRL) provides an effective way to overcome the challenges of designing reward and the high costs of online interaction. However, since labeling preference needs real-time human feedback,…

Preference-based Reinforcement Learning (PbRL) enables policy learning through simple queries comparing trajectories from a single policy. While human responses to these queries make it possible to learn policies aligned with human…

Preference-based reinforcement learning (PbRL) is an approach that enables RL agents to learn from preference, which is particularly useful when formulating a reward function is challenging. Existing PbRL methods generally involve a…

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 reinforcement learning (PbRL) has shown impressive capabilities in training agents without reward engineering. However, a notable limitation of PbRL is its dependency on substantial human feedback. This dependency stems…