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Intrinsic Language-Guided Exploration for Complex Long-Horizon Robotic Manipulation Tasks

Triantafyllidis, E; Christianos, F; Li, Z; (2024) Intrinsic Language-Guided Exploration for Complex Long-Horizon Robotic Manipulation Tasks. In: Proceedings - IEEE International Conference on Robotics and Automation. (pp. pp. 7493-7500). Institute of Electrical and Electronics Engineers (IEEE) Green open access

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Abstract

Current reinforcement learning algorithms struggle in sparse and complex environments, most notably in long-horizon manipulation tasks entailing a plethora of different sequences. In this work, we propose the Intrinsically Guided Exploration from Large Language Models (IGE-LLMs) framework. By leveraging LLMs as an assistive intrinsic reward, 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, 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, (ii) can be combined and complement existing learning methods highlighting its modularity, (iii) are fairly insensitive to different intrinsic scaling parameters, and (iv) maintain robustness against increased levels of uncertainty and horizons.

Type: Proceedings paper
Title: Intrinsic Language-Guided Exploration for Complex Long-Horizon Robotic Manipulation Tasks
Event: IEEE International Conference on Robotics and Automation (ICRA) 2024
Location: Yokohama, Japan
Dates: 13th-17th May 2024
ISBN-13: 979-8-3503-8457-4/24
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/ICRA57147.2024.10611483
Publisher version: http://dx.doi.org/10.1109/icra57147.2024.10611483
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: https://discovery.ucl.ac.uk/id/eprint/10197138
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