arXiv: A Framework for Designing Reward Functions: From Objectives to Features to Human-Aligned Reward Functions We present a formal process to enable non-experts to instantiate and iterate on human-aligned reward functions, i.e. reward functions that adhere to a given preference ordering over trajectories. Given a task described in natural language, our process produces a linear reward function in three steps: distill the task's objectives into a set of fundamental objectives and derive measurable outcome variables that capture those fundamental objectives, select a causally representative subset of outco