{"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/polar-preference-optimization-and-learning","title":"POLAR: Preference Optimization and Learning Algorithms for Robotics","arxiv_id":"2208.04404","date":"2022-08-08","proceeding":null,"authors":["Maegan Tucker","Kejun Li","Yisong Yue","Aaron D. Ames"],"abstract":"Parameter tuning for robotic systems is a time-consuming and challenging task that often relies on domain expertise of the human operator. Moreover, existing learning methods are not well suited for parameter tuning for many reasons including: the absence of a clear numerical metric for `good robotic behavior'; limited data due to the reliance on real-world experimental data; and the large search space of parameter combinations. In this work, we present an open-source MATLAB Preference Optimization and Learning Algorithms for Robotics toolbox (POLAR) for systematically exploring high-dimensional parameter spaces using human-in-the-loop preference-based learning. This aim of this toolbox is to systematically and efficiently accomplish one of two objectives: 1) to optimize robotic behaviors for human operator preference; 2) to learn the operator's underlying preference landscape to better understand the relationship between adjustable parameters and operator preference. The POLAR toolbox achieves these objectives using only subjective feedback mechanisms (pairwise preferences, coactive feedback, and ordinal labels) to infer a Bayesian posterior over the underlying reward function dictating the user's preferences. We demonstrate the performance of the toolbox in simulation and present various applications of human-in-the-loop preference-based learning.","url_abs":"https://arxiv.org/abs/2208.04404v1","url_pdf":"https://arxiv.org/pdf/2208.04404v1.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":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"polar-preference-optimization-and-learning","repo_url":"https://github.com/maegant/polar","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}