@inproceedings{liu-etal-2025-vlp,
    title = "{VLP}: Vision-Language Preference Learning for Embodied Manipulation",
    author = "Liu, Runze  and
      Bai, Chenjia  and
      Lyu, Jiafei  and
      Sun, Shengjie  and
      Du, Yali  and
      Li, Xiu",
    editor = "Christodoulopoulos, Christos  and
      Chakraborty, Tanmoy  and
      Rose, Carolyn  and
      Peng, Violet",
    booktitle = "Proceedings of the 2025 Conference on Empirical Methods in Natural Language Processing",
    month = nov,
    year = "2025",
    address = "Suzhou, China",
    publisher = "Association for Computational Linguistics",
    url = "https://preview.aclanthology.org/ingest-emnlp/2025.emnlp-main.1444/",
    pages = "28416--28432",
    ISBN = "979-8-89176-332-6",
    abstract = "Reward engineering is one of the key challenges in Reinforcement Learning (RL). Preference-based RL effectively addresses this issue by learning from human feedback. However, it is both time-consuming and expensive to collect human preference labels. In this paper, we propose a novel \textbf{V}ision-\textbf{L}anguage \textbf{P}reference learning framework, named \textbf{VLP}, which learns a vision-language preference model to provide feedback for embodied manipulation tasks. To achieve this, we define three types of language-conditioned preferences and construct a vision-language preference dataset, which contains versatile implicit preference orders. The model learns to extract language-related features, and then serves as a predictor in various downstream tasks. The policy can be learned according to the annotated labels via reward learning or direct policy optimization. Extensive empirical results on simulated embodied manipulation tasks demonstrate that our method provides accurate preferences and generalizes to unseen tasks and unseen language instructions, outperforming the baselines by a large margin and shifting the burden from continuous, per-task human annotation to one-time, per-domain data collection."
}