?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Intrinsic+Language-Guided+Exploration+for+Complex+Long-Horizon+Robotic+Manipulation+Tasks&rft.creator=Triantafyllidis%2C+E&rft.creator=Christianos%2C+F&rft.creator=Li%2C+Z&rft.description=Current+reinforcement+learning+algorithms+struggle+in+sparse+and+complex+environments%2C+most+notably+in+long-horizon+manipulation+tasks+entailing+a+plethora+of+different+sequences.+In+this+work%2C+we+propose+the+Intrinsically+Guided+Exploration+from+Large+Language+Models+(IGE-LLMs)+framework.+By+leveraging+LLMs+as+an+assistive+intrinsic+reward%2C+IGE-LLMs+guides+the+exploratory+process+in+reinforcement+learning+to+address+intricate+long-horizon+with+sparse+rewards+robotic+manipulation+tasks.+We+evaluate+our+framework+and+related+intrinsic+learning+methods+in+an+environment+challenged+with+exploration%2C+and+a+complex+robotic+manipulation+task+challenged+by+both+exploration+and+long-horizons.+Results+show+IGE-LLMs+(i)+exhibit+notably+higher+performance+over+related+intrinsic+methods+and+the+direct+use+of+LLMs+in+decision-making%2C+(ii)+can+be+combined+and+complement+existing+learning+methods+highlighting+its+modularity%2C+(iii)+are+fairly+insensitive+to+different+intrinsic+scaling+parameters%2C+and+(iv)+maintain+robustness+against+increased+levels+of+uncertainty+and+horizons.&rft.publisher=Institute+of+Electrical+and+Electronics+Engineers+(IEEE)&rft.date=2024-08-08&rft.type=Proceedings+paper&rft.language=eng&rft.source=+++++In%3A++Proceedings+-+IEEE+International+Conference+on+Robotics+and+Automation.++(pp.+pp.+7493-7500).++Institute+of+Electrical+and+Electronics+Engineers+(IEEE)+(2024)+++++&rft.format=text&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10197138%2F1%2F2309.16347v2.pdf&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10197138%2F&rft.rights=open