Related papers: LLM-Guided Task- and Affordance-Level Exploration …

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

We investigate the potential of large language models (LLMs) to serve as efficient simulators for agentic search tasks in reinforcement learning (RL), thereby reducing dependence on costly interactions with external search engines. To this…

Planning methods struggle with computational intractability in solving task-level problems in large-scale environments. This work explores leveraging the commonsense knowledge encoded in LLMs to empower planning techniques to deal with…

Large Language Models (LLMs) have shown remarkable performance in various basic natural language tasks. For completing the complex task, we still need a plan for the task to guide LLMs to generate the specific solutions step by step. LLMs…

Offline reinforcement learning (RL) provides a powerful framework for training robotic agents using pre-collected, suboptimal datasets, eliminating the need for costly, time-consuming, and potentially hazardous online interactions. This is…

Scaling model size and training data has led to great advances in the performance of Large Language Models (LLMs). However, the diminishing returns of this approach necessitate alternative methods to improve model capabilities, particularly…

Large language models (LLMs) have demonstrated high performance on tasks expressed in natural language, particularly in zero- or few-shot settings. These are typically framed as supervised (e.g., classification) or unsupervised (e.g.,…

Enhancing the reasoning capabilities of Large Language Models (LLMs) with efficiency and scalability remains a fundamental challenge in artificial intelligence research. This paper presents a rigorous experimental investigation into how…

Reinforcement Learning (RL) plays an important role in the robotic manipulation domain since it allows self-learning from trial-and-error interactions with the environment. Still, sample efficiency and reward specification seriously limit…

Large pretrained models are showing increasingly better performance in reasoning and planning tasks across different modalities, opening the possibility to leverage them for complex sequential decision making problems. In this paper, we…

Exploration and goal-directed navigation in unknown layouts are central to inspection, logistics, and search-and-rescue. We ask whether large language models (LLMs) can function as \emph{text-only} controllers under partial observability --…

Despite achieving remarkable success in complex tasks, Deep Reinforcement Learning (DRL) is still suffering from critical issues in practical applications, such as low data efficiency, lack of interpretability, and limited cross-environment…

The advent of large language models (LLMs) has transformed information access and reasoning through open-ended natural language interaction. However, LLMs remain limited by static knowledge, factual hallucinations, and the inability to…

We introduce Random Latent Exploration (RLE), a simple yet effective exploration strategy in reinforcement learning (RL). On average, RLE outperforms noise-based methods, which perturb the agent's actions, and bonus-based exploration, which…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

Retrieval-augmented large language models (R-LLMs) combine pre-trained large language models (LLMs) with information retrieval systems to improve the accuracy of factual question-answering. However, current libraries for building R-LLMs…

The application of reinforcement learning (RL) to enhance the reasoning capabilities of Multimodal Large Language Models (MLLMs) constitutes a rapidly advancing research area. While MLLMs extend Large Language Models (LLMs) to handle…

Recent advancements in the reasoning skills of Large Language Models (LLMs) demonstrate an increase in the ability of LLMs to solve simple planning tasks. However, as long as the driving force behind improved reasoning capability is the…

Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets,…