@article{freeformpreferencelearningforroboticmani,
  title = {Freeform Preference Learning for Robotic Manipulation},
  author = {Marcel Torne and Anubha Mahajan and Abhijnya Bhat and Chelsea Finn},
  year = {2026},
  eprint = {2606.32027},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.32027},
}