Embodied reward models systematically over-reward unsafe, suboptimal, and shortcut robot behaviors due to training on successful data only, and modest inclusion of bad behavior data improves alignment with human preferences.
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Position: Good Embodied Reward Models Need Bad Behavior Data
Embodied reward models systematically over-reward unsafe, suboptimal, and shortcut robot behaviors due to training on successful data only, and modest inclusion of bad behavior data improves alignment with human preferences.