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

Model-based reinforcement learning (MBRL) has gained much attention for its ability to learn complex behaviors in a sample-efficient way: planning actions by generating imaginary trajectories with predicted rewards. Despite its success, we…

Test-time alignment methods offer a promising alternative to fine-tuning by steering the outputs of large language models (LLMs) at inference time with lightweight interventions on their internal representations. Recently, a prominent and…

Offline reinforcement learning (RL) methods aim to learn optimal policies with access only to trajectories in a fixed dataset. Policy constraint methods formulate policy learning as an optimization problem that balances maximizing reward…

We consider the problem of learning preferences over trajectories for mobile manipulators such as personal robots and assembly line robots. The preferences we learn are more intricate than simple geometric constraints on trajectories; they…

Reinforcement learning based fine-tuning of large language models (LLMs) on human preferences has been shown to enhance both their capabilities and safety behavior. However, in cases related to safety, without precise instructions to human…

The potential of reinforcement learning (RL) to deliver aligned and performant agents is partially bottlenecked by the reward engineering problem. One alternative to heuristic trial-and-error is preference-based RL (PbRL), where a reward…

Safe reinforcement learning (RL) is a standard paradigm for safety-critical decision making. However, real-world safety constraints can be complex, subjective, and even hard to explicitly specify. Existing works on constraint inference rely…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Learning from Preferences in Reinforcement Learning (PbRL) has gained attention recently, as it serves as a natural fit for complicated tasks where the reward function is not easily available. However, preferences often come with…

We present an approach to robot learning from egocentric human videos by modeling human preferences in a reward function and optimizing robot behavior to maximize this reward. Prior work on reward learning from human videos attempts to…

Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…

Preference-based Reinforcement Learning (PbRL) methods utilize binary feedback from the human in the loop (HiL) over queried trajectory pairs to learn a reward model in an attempt to approximate the human's underlying reward function…

Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and…

Multimodal representation learning seeks to create a unified representation space by integrating diverse data modalities to improve multimodal understanding. Traditional methods often depend on pairwise contrastive learning, which relies on…

Preference learning has long been studied in Human-Robot Interaction (HRI) in order to adapt robot behavior to specific user needs and desires. Typically, human preferences are modeled as a scalar function; however, such a formulation…

Current advances in recommender systems have been remarkably successful in optimizing immediate engagement. However, long-term user engagement, a more desirable performance metric, remains difficult to improve. Meanwhile, recent…

In the field of legged robot motion control, reinforcement learning (RL) holds great promise but faces two major challenges: high computational cost for training individual robots and poor generalization of trained models. To address these…

In this paper, we investigate preference-based reinforcement learning (PbRL), which enables reinforcement learning (RL) agents to learn from human feedback. This is particularly valuable when defining a fine-grain reward function is not…

Conveying complex objectives to reinforcement learning (RL) agents often requires meticulous reward engineering. Preference-based RL methods are able to learn a more flexible reward model based on human preferences by actively incorporating…

The main challenge in developing effective reinforcement learning (RL) pipelines is often the design and tuning the reward functions. Well-designed shaping reward can lead to significantly faster learning. Naively formulated rewards,…