相关论文: Intrinsic Language-Guided Exploration for Complex …

Reinforcement learning (RL) has demonstrated strong potential in training large language models (LLMs) capable of complex reasoning for real-world problem solving. More recently, RL has been leveraged to create sophisticated LLM-based…

Policy exploration is critical in reinforcement learning (RL), where existing approaches include greedy, Gaussian process, etc. However, these approaches utilize preset stochastic processes and are indiscriminately applied in all kinds of…

An ideal embodied agent should possess lifelong learning capabilities to handle long-horizon and complex tasks, enabling continuous operation in general environments. This not only requires the agent to accurately accomplish given tasks but…

Recent advancements in Large Language Models (LLMs) and Visual Language Models (VLMs) have significantly impacted robotics, enabling high-level semantic motion planning applications. Reinforcement Learning (RL), a complementary paradigm,…

Reinforcement learning (RL) is one of the three basic paradigms of machine learning. It has demonstrated impressive performance in many complex tasks like Go and StarCraft, which is increasingly involved in smart manufacturing and…

Although Deep Reinforcement Learning (DRL) has achieved notable success in numerous robotic applications, designing a high-performing reward function remains a challenging task that often requires substantial manual input. Recently, Large…

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

Large Language Models (LLMs) are emerging as promising tools for automated reinforcement learning (RL) reward design, owing to their robust capabilities in commonsense reasoning and code generation. By engaging in dialogues with RL agents,…

Exploration is essential for general-purpose robotic learning, especially in open-ended environments where dense rewards, explicit goals, or task-specific supervision are scarce. Vision-language models (VLMs), with their semantic reasoning…

Despite their success in many domains, large language models (LLMs) remain under-studied in scenarios requiring optimal decision-making under uncertainty. This is crucial as many real-world applications, ranging from personalized…

With extensive pre-trained knowledge and high-level general capabilities, large language models (LLMs) emerge as a promising avenue to augment reinforcement learning (RL) in aspects such as multi-task learning, sample efficiency, and…

Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits the scalability and automation of reinforcement learning.…

In this paper we address the challenge of exploration in deep reinforcement learning for robotic manipulation tasks. In sparse goal settings, an agent does not receive any positive feedback until randomly achieving the goal, which becomes…

In-context learning (ICL) of large language models (LLMs) has attracted increasing attention in the community where LLMs make predictions only based on instructions augmented with a few examples. Existing example selection methods for ICL…

Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have made them powerful tools in embodied navigation, enabling agents to leverage commonsense and spatial reasoning for efficient exploration in…

To assist with everyday human activities, robots must solve complex long-horizon tasks and generalize to new settings. Recent deep reinforcement learning (RL) methods show promise in fully autonomous learning, but they struggle to reach…

We investigate the extent to which contemporary Large Language Models (LLMs) can engage in exploration, a core capability in reinforcement learning and decision making. We focus on native performance of existing LLMs, without training…

Existing robotic foundation policies are trained primarily via large-scale imitation learning. While such models demonstrate strong capabilities, they often struggle with long-horizon tasks due to distribution shift and error accumulation.…

Large language models (LLMs)-based code generation for robotic manipulation has recently shown promise by directly translating human instructions into executable code, but existing methods remain noisy, constrained by fixed primitives and…