相关论文: RoboMoRe: LLM-based Robot Co-design via Joint Opti…

We introduce RoboMorph, an automated approach for generating and optimizing modular robot designs using large language models (LLMs) and evolutionary algorithms. Each robot design is represented by a structured grammar, and we use LLMs to…

As the complexity of tasks addressed through reinforcement learning (RL) increases, the definition of reward functions also has become highly complicated. We introduce an RL method aimed at simplifying the reward-shaping process through…

Large language models (LLMs) have demonstrated exciting progress in acquiring diverse new capabilities through in-context learning, ranging from logical reasoning to code-writing. Robotics researchers have also explored using LLMs to…

The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…

Designing effective reward functions remains a central challenge in reinforcement learning, especially in multi-objective environments. In this work, we propose Multi-Objective Reward Shaping with Exploration (MORSE), a general framework…

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.…

Robot co-design, where the morphology of a robot is optimized jointly with a learned policy to solve a specific task, is an emerging area of research. It holds particular promise for soft robots, which are amenable to novel manufacturing…

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…

Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…

General-purpose robot reward models are typically trained to predict absolute task progress from expert demonstrations, providing only local, frame-level supervision. While effective for expert demonstrations, this paradigm scales poorly to…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

Reward design plays a pivotal role in aligning large language models (LLMs) with human values, serving as the bridge between feedback signals and model optimization. This survey provides a structured organization of reward modeling and…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in…

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…

As robots become more prevalent, optimizing their design for better performance and efficiency is becoming increasingly important. However, current robot design practices overlook the impact of perception and design choices on a robot's…

Multi-agent reinforcement learning (MARL) faces two critical bottlenecks distinct from single-agent RL: credit assignment in cooperative tasks and partial observability of environmental states. We propose LERO, a framework integrating Large…

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,…

The main challenge in developing effective reinforcement learning (RL) pipelines is often the design and tuning the reward functions. Well-designed shaping reward can lead to significantly faster learning. Naively formulated rewards,…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…