2024/09/20 by Ruiqi Wang, Wang, Ruiqi, Dezhong Zhao +9 · 1 citation
Computer Science · #Context-Aware Activity Recognition Systems #FOS: Computer and information sciences #Human Pose and Action Recognition #Robotics (cs.RO) #Video Surveillance and Tracking Methods
paper · pdf · doi:10.48550/arxiv.2409.13822
openalex publication_date 2024/09/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often require training a personalized robot policy from scratch, resulting in inefficient use of human feedback. In this paper, we propose preference-based action representation learning (PbARL), an efficient fine-tuning method that decouples common task structure from preference by leveraging pre-trained robot policies. Instead of directly fine-tuning the pre-trained policy with human preference, PbARL uses it as a reference for an action representation learning task that maximizes the mutual information between the pre-trained source domain and the target user preference-aligned domain. This approach allows the robot to personalize its behaviors while preserving original task performance and eliminates the need for extensive prior information from the source domain, thereby enhancing efficiency and practicality in real-world HRI scenarios. Empirical results on the Assistive Gym benchmark and a real-world user study (N=8) demonstrate the benefits of our method compared to state-of-the-art approaches.