Abstract

Reward machines have shown great promise at capturing non-Markovian reward functions for learning tasks that involve complex action sequencing. However, no algorithm currently exists for learning reward machines with realistic weak feedback in the form of preferences. We contribute REMAP, a novel algorithm for learning reward machines from preferences, with correctness and termination guarantees. REMAP introduces preference queries in place of membership queries in the L* algorithm, and leverages a symbolic observation table along with unification and constraint solving to narrow the hypothesis reward machine search space. In addition to the proofs of correctness and termination for REMAP, we present empirical evidence measuring correctness: how frequently the resulting reward machine is isomorphic under a consistent yet inexact teacher, and the regret between the ground truth and learned reward machines.