MORAL: Aligning AI with Human Norms through Multi-Objective Reinforced Active Learning
M. Peschl (Student TU Delft)
A. Zgonnikov (TU Delft - Human-Robot Interaction)
F.A. Oliehoek (TU Delft - Interactive Intelligence)
Luciano Cavalcante Siebert (TU Delft - Interactive Intelligence)
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Abstract
Inferring reward functions from demonstrations and pairwise preferences are auspicious approaches for aligning Reinforcement Learning (RL) agents with human intentions. However, state-of-the art methods typically focus on learning a single reward model, thus rendering it difficult to trade off different reward functions from multiple experts. We propose Multi-Objective Reinforced Active Learning (MORAL), a novel method for combining diverse demonstrations of social norms into a Pareto-optimal policy. Through maintaining a distribution over scalarization weights, our approach is able to interactively tune a deep RL agent towards a variety of preferences, while eliminating the need for computing multiple policies. We empirically demonstrate the effectiveness of MORAL in two scenarios, which model a delivery and an emergency task that require an agent to act in the presence of normative conflicts. Overall, we consider our research a step towards multi-objective RL with learned rewards, bridging the gap between current reward learning and machine ethics literature.