{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/learning-reward-functions-from-scale-feedback","title":"Learning Reward Functions from Scale Feedback","arxiv_id":"2110.00284","date":"2021-10-01","proceeding":null,"authors":["Nils Wilde","Erdem Biyik","Dorsa Sadigh","Stephen L. Smith"],"abstract":"Today's robots are increasingly interacting with people and need to efficiently learn inexperienced user's preferences. A common framework is to iteratively query the user about which of two presented robot trajectories they prefer. While this minimizes the users effort, a strict choice does not yield any information on how much one trajectory is preferred. We propose scale feedback, where the user utilizes a slider to give more nuanced information. We introduce a probabilistic model on how users would provide feedback and derive a learning framework for the robot. We demonstrate the performance benefit of slider feedback in simulations, and validate our approach in two user studies suggesting that scale feedback enables more effective learning in practice.","url_abs":"https://arxiv.org/abs/2110.00284v1","url_pdf":"https://arxiv.org/pdf/2110.00284v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"learning-reward-functions-from-scale-feedback","repo_url":"https://github.com/stanford-iliad/reward-learning-scale-feedback","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2110.00284","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2110.00284"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/stanford-iliad/reward-learning-scale-feedback","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"unverified":7},"by_repo_kind":{"official":{"samples":7,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"7b31c8b445431412","entry":"feature","repo":"stanford-iliad/reward-learning-scale-feedback","repo_kind":"official","path":"feature.py","file_url":"https://github.com/stanford-iliad/reward-learning-scale-feedback/blob/HEAD/feature.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"7b31c8b445431412"}},{"code_sha256_prefix":"01f339392d552950","entry":"get_trajectory_for_weight","repo":"stanford-iliad/reward-learning-scale-feedback","repo_kind":"official","path":"demos.py","file_url":"https://github.com/stanford-iliad/reward-learning-scale-feedback/blob/HEAD/demos.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"01f339392d552950"}},{"code_sha256_prefix":"8c0ec72e23c00c03","entry":"infogain","repo":"stanford-iliad/reward-learning-scale-feedback","repo_kind":"official","path":"algos.py","file_url":"https://github.com/stanford-iliad/reward-learning-scale-feedback/blob/HEAD/algos.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"8c0ec72e23c00c03"}},{"code_sha256_prefix":"895c347bfdccfa32","entry":"maxregret","repo":"stanford-iliad/reward-learning-scale-feedback","repo_kind":"official","path":"algos.py","file_url":"https://github.com/stanford-iliad/reward-learning-scale-feedback/blob/HEAD/algos.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"895c347bfdccfa32"}},{"code_sha256_prefix":"dacb1672d08b7dad","entry":"random","repo":"stanford-iliad/reward-learning-scale-feedback","repo_kind":"official","path":"algos.py","file_url":"https://github.com/stanford-iliad/reward-learning-scale-feedback/blob/HEAD/algos.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"dacb1672d08b7dad"}},{"code_sha256_prefix":"f00ce46ad85add98","entry":"replace_solver_labels","repo":"stanford-iliad/reward-learning-scale-feedback","repo_kind":"official","path":"plot_data.py","file_url":"https://github.com/stanford-iliad/reward-learning-scale-feedback/blob/HEAD/plot_data.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"f00ce46ad85add98"}},{"code_sha256_prefix":"bbfd88d6d34e2002","entry":"speed","repo":"stanford-iliad/reward-learning-scale-feedback","repo_kind":"official","path":"feature.py","file_url":"https://github.com/stanford-iliad/reward-learning-scale-feedback/blob/HEAD/feature.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"bbfd88d6d34e2002"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}