相关论文: PrefMMT: Modeling Human Preferences in Preference-…

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…

Reinforcement learning (RL) requires access to a reward function that incentivizes the right behavior, but these are notoriously hard to specify for complex tasks. Preference-based RL provides an alternative: learning policies using a…

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…

Recently, there has been considerable attention towards leveraging large language models (LLMs) to enhance decision-making processes. However, aligning the natural language text instructions generated by LLMs with the vectorized operations…

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…

We are interested in the design of autonomous robot behaviors that learn the preferences of users over continued interactions, with the goal of efficiently executing navigation behaviors in a way that the user expects. In this paper, we…

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…

Human demonstrations can provide trustful samples to train reinforcement learning algorithms for robots to learn complex behaviors in real-world environments. However, obtaining sufficient demonstrations may be impractical because many…

Preference-based reinforcement learning (RL) provides a framework to train AI agents using human feedback through preferences over pairs of behaviors, enabling agents to learn desired behaviors when it is difficult to specify a numerical…

Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…

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.…

Reinforcement Learning (RL) has emerged as a powerful tool for neural combinatorial optimization, enabling models to learn heuristics that solve complex problems without requiring expert knowledge. Despite significant progress, existing RL…

In-context reinforcement learning (ICRL) leverages the in-context learning capabilities of transformer models (TMs) to efficiently generalize to unseen sequential decision-making tasks without parameter updates. However, existing ICRL…

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.…

Specifying rewards for reinforcement learned (RL) agents is challenging. Preference-based RL (PbRL) mitigates these challenges by inferring a reward from feedback over sets of trajectories. However, the effectiveness of PbRL is limited by…

Recent advancements in LLMs have revolutionized motion generation models in embodied applications. While LLM-type auto-regressive motion generation models benefit from training scalability, there remains a discrepancy between their token…

The current reward learning from human preferences could be used to resolve complex reinforcement learning (RL) tasks without access to a reward function by defining a single fixed preference between pairs of trajectory segments. However,…

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,…

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…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…