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Language-Guided Preference Learning Enables generation of diverse expressive behaviors from a single policy.
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2026-02-21 06:36:05
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Language-Guided Preference Learning More Research ILIAD Language-Guided Preference Learning Jaden Clark 1 , Joey Hejna 1 , Dorsa Sadigh 1 1 Stanford University Paper arXiv Video LGPL generates accurate, expressive behaviors from a single task-conditioned policy. Abstract Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However, determining the optimal behavior for interactions with different users across varied scenarios remains a challenge. Current methods either rely on natural language input, which is efficient but low-resolution, or learn from human preferences, which, although high-resolution, is sample inefficient. This paper introduces a novel approach that leverages priors generated by pre-trained LLMs alongside the precision of preference lear...
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