ViReSkill: Vision-Grounded Replanning with Skill Memory for LLM-Based Planning in Lifelong Robot Learning

Tomoyuki Kagaya, Subramanian Lakshmi, Anbang Ye +6

Robots trained via Reinforcement Learning (RL) or Imitation Learning (IL) often adapt slowly to new tasks, whereas recent Large Language Models (LLMs) and Vision-Language Models (V…