Related papers: Language to Rewards for Robotic Skill Synthesis

We present LARL-RM (Large language model-generated Automaton for Reinforcement Learning with Reward Machine) algorithm in order to encode high-level knowledge into reinforcement learning using automaton to expedite the reinforcement…

This paper investigates using large language models (LLMs) to generate control actions directly, without requiring control-engineering expertise or hand-tuned algorithms. We implement several variants: (i) prompt-only, (ii) tool-assisted…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

As Large Language Models (LLMs) have become integral to both research and daily operations, rigorous evaluation is crucial. This assessment is important not only for individual tasks but also for understanding their societal impact and…

Proximal Policy Optimization (PPO) is commonly used in Reinforcement Learning from Human Feedback to align large language models (LLMs) with downstream tasks. This paper investigates the feasibility of using PPO for direct reinforcement…

Large language models (LLMs) pre-trained on vast internet-scale data have showcased remarkable capabilities across diverse domains. Recently, there has been escalating interest in deploying LLMs for robotics, aiming to harness the power of…

In this work, a thorough mathematical framework for incorporating Large Language Models (LLMs) into gamified systems is presented with an emphasis on improving task dynamics, user engagement, and reward systems. Personalized feedback,…

Large language models (LLMs) have been adopted to solve sequential decision-making tasks such as multi-armed bandits (MAB), in which an LLM is directly instructed to select the arms to pull in every iteration. However, this paradigm of…

Large Language Models (LLMs) have emerged as powerful tools in various research domains. This article examines their potential through a literature review and firsthand experimentation. While LLMs offer benefits like cost-effectiveness and…

Transferring policies learned in simulation to the real world is a promising strategy for acquiring robot skills at scale. However, sim-to-real approaches typically rely on manual design and tuning of the task reward function as well as the…

Multi-robot systems have been widely deployed in real-world applications, providing significant improvements in efficiency and reductions in labor costs. However, most existing multi-robot collaboration methods rely on extensive…

Recent progress in large language models (LLM) found chain-of-thought prompting strategies to improve the reasoning ability of LLMs by encouraging problem solving through multiple steps. Therefore, subsequent research aimed to integrate the…

Large Language Models (LLMs) have demonstrated potential in automating scientific ideation, yet current approaches relying on iterative prompting or complex multi-agent architectures often suffer from hallucination or computational…

Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who are unable to complete activities of daily living. Speech…

Bus holding control is a widely-adopted strategy for maintaining stability and improving the operational efficiency of bus systems. Traditional model-based methods often face challenges with the low accuracy of bus state prediction and…

Complex manipulation tasks often require robots with complementary capabilities to collaborate. We introduce a benchmark for LanguagE-Conditioned Multi-robot MAnipulation (LEMMA) focused on task allocation and long-horizon object…

Large Language Models (LLMs) have experienced great advancements in the last year resulting in an increase of these models in several fields to face natural language tasks. The integration of these models in robotics can also help to…

The goal of this study is to identify factors that support and enhance older adults' creative experiences in human-robot co-creativity. Because the research into the use of robots for creativity support with older adults remains…

Reinforcement learning (RL) has shown impressive results in sequential decision-making tasks. Meanwhile, Large Language Models (LLMs) and Vision-Language Models (VLMs) have emerged, exhibiting impressive capabilities in multimodal…

In human-robot interaction (HRI), the beginning of an interaction is often complex. Whether the robot should communicate with the human is dependent on several situational factors (e.g., the current human's activity, urgency of the…