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

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.…

Preference-based reinforcement learning (PbRL) bypasses complex reward engineering by learning rewards directly from human preferences, enabling better alignment with human intentions. However, its effectiveness in multi-stage tasks, where…

Preference-based Reinforcement Learning (PbRL) replaces reward values in traditional reinforcement learning by preferences to better elicit human opinion on the target objective, especially when numerical reward values are hard to design or…

The effectiveness of reinforcement learning (RL) agents in continuous control robotics tasks is mainly dependent on the design of the underlying reward function, which is highly prone to reward hacking. A misalignment between the reward…

Preference-Based reinforcement learning (PBRL) learns directly from the preferences of human teachers regarding agent behaviors without needing meticulously designed reward functions. However, existing PBRL methods often learn primarily…

Offline Preference-based Reinforcement Learning (PbRL) learns rewards and policies aligned with human preferences without the need for extensive reward engineering and direct interaction with human annotators. However, ensuring safety…

Learning from human involvement aims to incorporate the human subject to monitor and correct agent behavior errors. Although most interactive imitation learning methods focus on correcting the agent's action at the current state, they do…

Preference-based Reinforcement Learning (PbRL) provides a way to learn high-performance policies in environments where the reward signal is hard to specify, avoiding heuristic and time-consuming reward design. However, PbRL can suffer from…

Reinforcement Learning from Human Feedback (RLHF) has emerged as a powerful approach for aligning generative models, but its reliance on learned reward models makes it vulnerable to mis-specification and reward hacking. Preference-based…

Inverse Reinforcement Learning (IRL) presents a powerful paradigm for learning complex robotic tasks from human demonstrations. However, most approaches make the assumption that expert demonstrations are available, which is often not the…

Humanoid robots often need to balance competing objectives, such as maximizing speed while minimizing energy consumption. While current reinforcement learning (RL) methods can master complex skills like fall recovery and perceptive…

The goal of task transfer in reinforcement learning is migrating the action policy of an agent to the target task from the source task. Given their successes on robotic action planning, current methods mostly rely on two requirements:…

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…

Parameter tuning for robotic systems is a time-consuming and challenging task that often relies on domain expertise of the human operator. Moreover, existing learning methods are not well suited for parameter tuning for many reasons…

We introduce MotionRL, the first approach to utilize Multi-Reward Reinforcement Learning (RL) for optimizing text-to-motion generation tasks and aligning them with human preferences. Previous works focused on improving numerical performance…

Reinforcement Learning (RL) algorithms suffer from the dependency on accurately engineered reward functions to properly guide the learning agents to do the required tasks. Preference-based reinforcement learning (PbRL) addresses that by…

Representation learning is a key technique in modern machine learning that enables models to identify meaningful patterns in complex data. However, different methods tend to extract distinct aspects of the data, and relying on a single…

Preference-based reinforcement learning (PBRL) in the offline setting has succeeded greatly in industrial applications such as chatbots. A two-step learning framework where one applies a reinforcement learning step after a reward modeling…

Despite the recent advancements of vision-language-action (VLA) models on a variety of robotics tasks, they suffer from critical issues such as poor generalizability to unseen tasks, due to their reliance on behavior cloning exclusively…

Learning robot skills from scratch is often time-consuming, while reusing data promotes sustainability and improves sample efficiency. This study investigates policy transfer across different robotic platforms, focusing on peg-in-hole task…