用视觉语言模型自动学习机器人操作的偏好，省去人工标注。

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 preference 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 without human annotations. The preference model learns to extract language-related features, and then serves as a preference annotator in various downstream tasks. The policy can be learned according to the annotated preferences 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.