相关论文: QuickLAP: Quick Language-Action Preference Learnin…

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…

Learning from human feedback has gained traction in fields like robotics and natural language processing in recent years. While prior works mostly rely on human feedback in the form of comparisons, language is a preferable modality that…

Preference-based reward learning is widely used for shaping agent behavior to match a user's preference, yet its sparse binary feedback makes it especially vulnerable to causal confusion. The learned reward often latches onto spurious…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

Physically Assistive Robots (PARs) require personalized behaviors to ensure user safety and comfort. However, traditional preference learning methods, like exhaustive pairwise comparisons, cause severe physical and cognitive fatigue for…

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 engineering is one of the key challenges in Reinforcement Learning (RL). Preference-based RL effectively addresses this issue by learning from human feedback. However, it is both time-consuming and expensive to collect human…

Reward models are central to large language model (LLM) post-training. However, past work has shown that they can reward spurious or undesirable attributes such as length, format, hallucinations, and sycophancy. In this work, we introduce…

Preference-based reinforcement learning is an effective way to handle tasks where rewards are hard to specify but can be exceedingly inefficient as preference learning is often tabula rasa. We demonstrate that Large Language Models (LLMs)…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…

Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…

Learning from demonstrations is a common way for users to teach robots, but it is prone to spurious feature correlations. Recent work constructs state abstractions, i.e. visual representations containing task-relevant features, from…

Preference-based reward learning is a popular technique for teaching robots and autonomous systems how a human user wants them to perform a task. Previous works have shown that actively synthesizing preference queries to maximize…

A key challenge in reward learning from human input is that desired agent behavior often changes based on context. For example, a robot must adapt to avoid a stove once it becomes hot. We observe that while high-level preferences (e.g.,…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

Reinforcement learning (RL), particularly in sparse reward settings, often requires prohibitively large numbers of interactions with the environment, thereby limiting its applicability to complex problems. To address this, several prior…

Current audio captioning relies on supervised learning with paired audio-caption data, which is costly to curate and may not reflect human preferences in real-world scenarios. To address this, we propose a preference-aligned audio…

Learning from human feedback is a popular approach to train robots to adapt to user preferences and improve safety. Existing approaches typically consider a single querying (interaction) format when seeking human feedback and do not…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…