Preferential Bayesian Optimization with Crash Feedback

摘要

Bayesian optimization is a popular black-box optimization method for parameter learning in control and robotics. It typically requires an objective function that reflects the user's optimization goal. However, in practical applications, this objective function is often inaccessible due to complex or unmeasurable performance metrics. Preferential Bayesian optimization (PBO) overcomes this limitation by leveraging human feedback through pairwise comparisons, eliminating the need for explicit performance quantification. When applying PBO to hardware systems, such as in quadcopter control, crashes can cause time-consuming experimental resets, wear and tear, or otherwise undesired outcomes. Standard PBO methods cannot incorporate feedback from such crashed experiments, resulting in the exploration of parameters that frequently lead to experimental crashes. We thus introduce CrashPBO, a user-friendly mechanism that enables users to both express preferences and report crashes during the optimization process. Benchmarking on synthetic functions shows that this mechanism reduces crashes by 63% and increases data efficiency. Through experiments on three robotics platforms, we demonstrate the wide applicability and transferability of CrashPBO, highlighting that it provides a flexible, user-friendly framework for parameter learning with human feedback on preferences and crashes.