Representation Alignment from Human Feedback for Cross-Embodiment Reward Learning from Mixed-Quality Demonstrations
<|reference_start|>Representation Alignment from Human Feedback for Cross-Embodiment Reward Learning from Mixed-Quality Demonstrations: We study the problem of cross-embodiment inverse reinforcement learning, where we wish to learn a reward function from video demonstrations in one or more embodiments and then transfer the learned reward to a different embodiment (e.g., different action space, dynamics, size, shape, etc.). Learning reward functions that transfer across embodiments is important in settings such as teaching a robot a policy via human video demonstrations or teaching a robot to imitate a policy from another robot with a different embodiment. However, prior work has only focused on cases where near-optimal demonstrations are available, which is often difficult to ensure. By contrast, we study the setting of cross-embodiment reward learning from mixed-quality demonstrations. We demonstrate that prior work struggles to learn generalizable reward representations when learning from mixed-quality data. We then analyze several techniques that leverage human feedback for representation learning and alignment to enable effective cross-embodiment learning. Our results give insight into how different representation learning techniques lead to qualitatively different reward shaping behaviors and the importance of human feedback when learning from mixed-quality, mixed-embodiment data.<|reference_end|>
@article{mattson2024representation,
    title={Representation Alignment from Human Feedback for Cross-Embodiment Reward
  Learning from Mixed-Quality Demonstrations},
    author={Connor Mattson, Anurag Aribandi, Daniel S. Brown},
    journal={arXiv preprint arXiv:2408.05610},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.05610},
    primaryClass={cs.RO cs.AI}
}