  Preference-based reinforcement learning (RL) provides a framework to train
agents using human preferences between two behaviors. However, preference-based
RL has been challenging to scale since it requires a large amount of human
feedback to learn a reward function aligned with human intent. In this paper,
we present Preference Transformer, a neural architecture that models human
preferences using transformers. Unlike prior approaches assuming human judgment
is based on the Markovian rewards which contribute to the decision equally, we
introduce a new preference model based on the weighted sum of non-Markovian
rewards. We then design the proposed preference model using a transformer
architecture that stacks causal and bidirectional self-attention layers. We
demonstrate that Preference Transformer can solve a variety of control tasks
using real human preferences, while prior approaches fail to work. We also show
that Preference Transformer can induce a well-specified reward and attend to
critical events in the trajectory by automatically capturing the temporal
dependencies in human decision-making. Code is available on the project
website: https://sites.google.com/view/preference-transformer.

Machine Learning;Artificial Intelligence;Robotics