{"id":"https://openalex.org/W7166890468","doi":"https://doi.org/10.48550/arxiv.2606.32027","title":"Freeform Preference Learning for Robotic Manipulation","display_name":"Freeform Preference Learning for Robotic Manipulation","publication_year":2026,"publication_date":"2026-06-30","ids":{"openalex":"https://openalex.org/W7166890468","doi":"https://doi.org/10.48550/arxiv.2606.32027"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.32027","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.32027","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.32027","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139836419","display_name":"Marcel Torne","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Torne, Marcel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030469052","display_name":"Anubha Mahajan","orcid":"https://orcid.org/0000-0001-5585-3420"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mahajan, Anubha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139771382","display_name":"Abhijnya Bhat","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bhat, Abhijnya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139840459","display_name":"Chelsea Finn","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Finn, Chelsea","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.492000013589859,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.492000013589859,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.4325000047683716,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.01899999938905239,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.6924999952316284},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.636900007724762},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.5860999822616577},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.5819000005722046},{"id":"https://openalex.org/keywords/preference-learning","display_name":"Preference learning","score":0.5809000134468079},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5299999713897705},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4814999997615814}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7123000025749207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7087000012397766},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.6924999952316284},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.636900007724762},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.5860999822616577},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5819000005722046},{"id":"https://openalex.org/C181204326","wikidata":"https://www.wikidata.org/wiki/Q7239820","display_name":"Preference learning","level":3,"score":0.5809000134468079},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5299999713897705},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4814999997615814},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4018999934196472},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38839998841285706},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3192000091075897},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3095000088214874},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.305400013923645},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C2779436431","wikidata":"https://www.wikidata.org/wiki/Q30672407","display_name":"Policy learning","level":2,"score":0.2623000144958496},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2567000091075897},{"id":"https://openalex.org/C121375916","wikidata":"https://www.wikidata.org/wiki/Q936559","display_name":"Principle of compositionality","level":2,"score":0.25619998574256897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.32027","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.32027","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.32027","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.32027","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Reward":[0],"design":[1],"remains":[2],"a":[3,43,93,99,114],"central":[4],"bottleneck":[5],"for":[6,45],"autonomous":[7],"robot":[8,47],"policy":[9,116,171],"improvement,":[10],"especially":[11],"in":[12,162],"long-horizon":[13,130],"manipulation":[14,131],"tasks":[15],"where":[16],"sparse":[17],"success":[18],"labels":[19],"provide":[20,81],"too":[21],"little":[22],"signal":[23],"and":[24,80,101,127,137,165],"binary":[25],"preferences":[26,83],"collapse":[27],"many":[28],"competing":[29],"notions":[30],"of":[31,58,76,158],"quality":[32,75],"into":[33],"one":[34],"ambiguous":[35],"signal.":[36],"We":[37,108],"introduce":[38],"Freeform":[39],"Preference":[40],"Learning":[41],"(FPL),":[42],"method":[44],"learning":[46],"policies":[48],"from":[49],"freeform":[50],"human":[51],"preferences.":[52],"Rather":[53],"than":[54],"asking":[55],"annotators":[56],"which":[57],"two":[59,128],"trajectories":[60],"is":[61],"better":[62],"overall,":[63],"FPL":[64,133,147],"lets":[65],"them":[66],"define":[67],"natural-language":[68],"preference":[69,102],"axes,":[70],"such":[71],"as":[72],"speed,":[73],"safety,":[74],"placement,":[77],"or":[78],"carefulness,":[79],"pairwise":[82],"along":[84],"each":[85],"axis.":[86],"These":[87],"annotations":[88],"are":[89],"used":[90],"to":[91,104,112,168],"learn":[92],"language-conditioned":[94],"reward":[95],"model":[96,111],"that":[97,117],"maps":[98],"trajectory":[100],"label":[103],"an":[105],"axis-specific":[106],"reward.":[107],"use":[109],"this":[110],"train":[113],"reward-conditioned":[115],"optimizes":[118],"across":[119],"the":[120,163,170],"multiple":[121],"human-specified":[122],"dimensions.":[123],"Across":[124],"four":[125],"real-world":[126],"simulated":[129],"tasks,":[132],"improves":[134],"over":[135],"sparse-reward":[136],"binary-preference":[138],"methods":[139],"by":[140],"38":[141],"percentage":[142],"points.":[143],"Beyond":[144],"improved":[145],"performance,":[146],"learns":[148],"dense":[149],"progress":[150],"signals":[151],"without":[152,178],"explicit":[153],"subtask":[154],"segmentation,":[155],"shows":[156],"compositionality":[157],"behavior":[159],"not":[160],"present":[161],"data,":[164],"allows":[166],"users":[167],"steer":[169],"towards":[172],"different":[173],"behaviors":[174],"at":[175,185],"test":[176],"time":[177],"retraining.":[179],"Blog":[180],"post":[181],"with":[182],"videos":[183],"available":[184],"https://freeform-pl.github.io/fpl.website/":[186]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-02T00:00:00"}