PCHC: Enabling Preference Conditioned Humanoid Control via Multi-Objective Reinforcement Learning
Year: 2026
Type: preprint
Abstract: Humanoid robots often need to balance competing objectives, such as maximizing speed while minimizing energy consumption. While current reinforcement learning (RL) methods can master complex skills like fall recovery and perceptive locomotion, they are constrained by fixed weighting strategies that produce a single suboptimal policy, rather than providing a diverse set of solutions for sophisticated multi-objective control. In this paper, we propose a novel framework leveraging Multi-Objective Reinforcement Learning (MORL) to achieve Preference-Conditioned Humanoid Control (PCHC). Unlike conventional methods that require training a series of policies to approximate the Pareto front, our framework enables a single, preference-conditioned policy to exhibit a wide spectrum of diverse behaviors. To effectively integrate these requirements, we introduce a Beta distribution-based alignment mechanism based on preference vectors modulating a Mixture-of-Experts (MoE) module. We validated our approach on two representative humanoid tasks. Extensive simulations and real-world experiments demonstrate that the proposed framework allows the robot to adaptively shift its objective priorities in real-time based on the input preference condition.
Source: arXiv (Cornell University)
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7140425669
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