Related papers: Language to Rewards for Robotic Skill Synthesis

Large Language Models (LLMs) are rapidly transforming various fields, and their potential in Business Process Management (BPM) is substantial. This paper assesses the capabilities of LLMs on business process modeling using a framework for…

Large language models (LLMs) have shown impressive capabilities, but still struggle with complex reasoning tasks requiring multiple steps. While prompt-based methods like Chain-of-Thought (CoT) can improve LLM reasoning at inference time,…

The field of machine learning (ML) has gained widespread adoption, leading to significant demand for adapting ML to specific scenarios, which is yet expensive and non-trivial. The predominant approaches towards the automation of solving ML…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

Humans face countless scenarios that require reasoning and judgment in daily life. However, existing large language model training methods primarily allow models to learn from existing textual content or solve predetermined problems,…

Hierarchical control for robotics has long been plagued by the need to have a well defined interface layer to communicate between high-level task planners and low-level policies. With the advent of LLMs, language has been emerging as a…

Large language model (LLM) simulations of human behavior have the potential to revolutionize the social and behavioral sciences, if and only if they faithfully reflect real human behaviors. Current evaluations of simulation fidelity are…

Recent research has demonstrated the potential of reinforcement learning (RL) in enabling effective multi-robot collaboration, particularly in social dilemmas where robots face a trade-off between self-interests and collective benefits.…

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…

Agents capable of carrying out general tasks on a computer can improve efficiency and productivity by automating repetitive tasks and assisting in complex problem-solving. Ideally, such agents should be able to solve new computer tasks…

A well-designed reward is critical for effective reinforcement learning-based policy improvement. In real-world robotics, obtaining such rewards typically requires either labor-intensive human labeling or brittle, handcrafted objectives.…

Large Language Models (LLMs) have shown significant potential in designing reward functions for Reinforcement Learning (RL) tasks. However, obtaining high-quality reward code often involves human intervention, numerous LLM queries, or…

The application of the Large Language Model (LLM) to robot action planning has been actively studied. The instructions given to the LLM by natural language may include ambiguity and lack of information depending on the task context. It is…

Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ability to creatively use tools in tasks that involve implicit…

Language-conditioned robot manipulation is an emerging field aimed at enabling seamless communication and cooperation between humans and robotic agents by teaching robots to comprehend and execute instructions conveyed in natural language.…

Code-generating Large Language Models (LLMs) have become essential tools in modern software development, enhancing productivity and accelerating development. This paper aims to investigate the fine-tuning of code-generating LLMs using…

Reward models (RMs) have become essential for aligning large language models (LLMs), serving as scalable proxies for human evaluation in both training and inference. However, existing RMs struggle on knowledge-intensive and long-form tasks,…

Sparse reward environments in reinforcement learning (RL) pose significant challenges for exploration, often leading to inefficient or incomplete learning processes. To tackle this issue, this work proposes a teacher-student RL framework…

Large Language Models (LLMs) have been successful at generating robot policy code, but so far these results have been limited to high-level tasks that do not require precise movement. It is an open question how well such approaches work for…

Large Language Models (LLMs) have made progress in various real-world tasks, which stimulates requirements for the evaluation of LLMs. Existing LLM evaluation methods are mainly supervised signal-based which depends on static datasets and…