相关论文: Plan-Seq-Learn: Language Model Guided RL for Solvi…

Safety-critical task planning in robotic systems remains challenging: classical planners suffer from poor scalability, Reinforcement Learning (RL)-based methods generalize poorly, and base Large Language Models (LLMs) cannot guarantee…

Long-horizon manipulation tasks such as stacking represent a longstanding challenge in the field of robotic manipulation, particularly when using reinforcement learning (RL) methods which often struggle to learn the correct sequence of…

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…

The development of a general purpose service robot for daily life necessitates the robot's ability to deploy a myriad of fundamental behaviors judiciously. Recent advancements in training Large Language Models (LLMs) can be used to generate…

Large language models (LLMs) have recently demonstrated their impressive ability to provide context-aware responses via text. This ability could potentially be used to predict plausible solutions in sequential decision making tasks…

Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of vision and control primitive skills. However, prior arts fix…

Despite significant advancements in large language models (LLMs) that enhance robot agents' understanding and execution of natural language (NL) commands, ensuring the agents adhere to user-specified constraints remains challenging,…

Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…

Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large…

Planning is a fundamental task in artificial intelligence that involves finding a sequence of actions that achieve a specified goal in a given environment. Large language models (LLMs) are increasingly used for applications that require…

Recent advancements in Large Language Models (LLMs) have sparked a revolution across many research fields. In robotics, the integration of common-sense knowledge from LLMs into task and motion planning has drastically advanced the field by…

Real-world robotic manipulation tasks remain an elusive challenge, since they involve both fine-grained environment interaction, as well as the ability to plan for long-horizon goals. Although deep reinforcement learning (RL) methods have…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

The integration of Large Language Models (LLMs) into robotics has unlocked unprecedented capabilities in high-level task planning. However, most current systems operate in an open-loop fashion, where LLMs act as one-shot planners, rendering…

Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models…

Imitation learning (IL) enables robots to acquire skills quickly by transferring expert knowledge, which is widely adopted in reinforcement learning (RL) to initialize exploration. However, in long-horizon motion planning tasks, a…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

We study building multi-task agents in open-world environments. Without human demonstrations, learning to accomplish long-horizon tasks in a large open-world environment with reinforcement learning (RL) is extremely inefficient. To tackle…

Planning represents a fundamental capability of intelligent agents, requiring comprehensive environmental understanding, rigorous logical reasoning, and effective sequential decision-making. While Large Language Models (LLMs) have…

Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to…