DemPref uses demonstrations to form a coarse reward prior and ground active preference queries, achieving higher efficiency than pure preference learning and higher user preference than IRL in experiments.
Note that this pair of trajectories is clearly querying the user for whether she wants the robot arm to move towards the goal or away from the goal
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Learning Reward Functions by Integrating Human Demonstrations and Preferences
DemPref uses demonstrations to form a coarse reward prior and ground active preference queries, achieving higher efficiency than pure preference learning and higher user preference than IRL in experiments.