Autonomously learning diverse behaviors without an extrinsic reward signal
has been a problem of interest in reinforcement learning. However, the nature
of learning in such mechanisms is unconstrained, often resulting in the
accumulation of several unusable, unsafe or misaligned skills. In order to
avoid such issues and ensure the discovery of safe and human-aligned skills, it
is necessary to incorporate humans into the unsupervised training process,
which remains a largely unexplored research area. In this work, we propose
Controlled Diversity with Preference (CDP), a novel, collaborative human-guided
mechanism for an agent to learn a set of skills that is diverse as well as
desirable. The key principle is to restrict the discovery of skills to those
regions that are deemed to be desirable as per a preference model trained using
human preference labels on trajectory pairs. We evaluate our approach on 2D
navigation and Mujoco environments and demonstrate the ability to discover
diverse, yet desirable skills.

本文提出了一种由人类辅助训练的学习机制 ——“受控多样性和偏好学习”，以确保学到的技能不仅是多样的，而且符合人类期望，在 2D 导航和 Mujoco 环境中得到了验证。