{"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-zero-shot-cooperation-with-humans","title":"Learning Zero-Shot Cooperation with Humans, Assuming Humans Are Biased","arxiv_id":"2302.01605","date":"2023-02-03","proceeding":null,"authors":["Chao Yu","Jiaxuan Gao","Weilin Liu","Botian Xu","Hao Tang","Jiaqi Yang","Yu Wang","Yi Wu"],"abstract":"There is a recent trend of applying multi-agent reinforcement learning (MARL) to train an agent that can cooperate with humans in a zero-shot fashion without using any human data. The typical workflow is to first repeatedly run self-play (SP) to build a policy pool and then train the final adaptive policy against this pool. A crucial limitation of this framework is that every policy in the pool is optimized w.r.t. the environment reward function, which implicitly assumes that the testing partners of the adaptive policy will be precisely optimizing the same reward function as well. However, human objectives are often substantially biased according to their own preferences, which can differ greatly from the environment reward. We propose a more general framework, Hidden-Utility Self-Play (HSP), which explicitly models human biases as hidden reward functions in the self-play objective. By approximating the reward space as linear functions, HSP adopts an effective technique to generate an augmented policy pool with biased policies. We evaluate HSP on the Overcooked benchmark. Empirical results show that our HSP method produces higher rewards than baselines when cooperating with learned human models, manually scripted policies, and real humans. The HSP policy is also rated as the most assistive policy based on human feedback.","url_abs":"https://arxiv.org/abs/2302.01605v1","url_pdf":"https://arxiv.org/pdf/2302.01605v1.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-zero-shot-cooperation-with-humans","repo_url":"https://github.com/samjia2000/HSP","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"multi-agent-reinforcement-learning","task_name":"Multi-agent Reinforcement Learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2302.01605","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2302.01605"}},"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/samjia2000/HSP","reach":null}],"summary":{"ran_draft_wrong":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"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":"b2f0cd760d718082","entry":"parse_args","repo":"samjia2000/HSP","repo_kind":"official","path":"hsp/scripts/train/train_overcooked_hsp.py","file_url":"https://github.com/samjia2000/HSP/blob/HEAD/hsp/scripts/train/train_overcooked_hsp.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"b2f0cd760d718082"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}