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cs.AI2024
LLM-Based Offline Learning for Embodied Agents via Consistency-Guided Reward Ensemble
Yujeong Lee, Sangwoo Shin, Wei-Jin Park +1
Employing large language models (LLMs) to enable embodied agents has become popular, yet it presents several limitations in practice. In this work, rather than using LLMs directly…
cs.AI2024
Semantic Skill Grounding for Embodied Instruction-Following in Cross-Domain Environments
Sangwoo Shin, Seunghyun Kim, Youngsoo Jang +2
In embodied instruction-following (EIF), the integration of pretrained language models (LMs) as task planners emerges as a significant branch, where tasks are planned at the skill…
cs.AI2024
SemTra: A Semantic Skill Translator for Cross-Domain Zero-Shot Policy Adaptation
Sangwoo Shin, Minjong Yoo, Jeongwoo Lee +1
This work explores the zero-shot adaptation capability of semantic skills, semantically interpretable experts' behavior patterns, in cross-domain settings, where a user input in in…