4 papers
Safe Task Planning with Long-Term Graph Memory for Embodied Agents
Siyuan Li, Taiyan Lang, Aoqi Yan +6
Large language models (LLMs) and vision-language models (VLMs) have significantly advanced zero-shot task planning for embodied agents. However, most LLM- and VLM-driven methods st…
Curriculum reinforcement learning with measurable task representation learning
Yongyan Wen, Siyuan Li, Mingjian Fu +3
In curriculum reinforcement learning (CRL), an agent incrementally accumulates knowledge over a sequence of tasks (i.e., a curriculum), and the learning process is aimed at using t…
Safe Planner: Empowering Safety Awareness in Large Pre-Trained Models for Robot Task Planning
Siyuan Li, Zhe Ma, Feifan Liu +7
Robot task planning is an important problem for autonomous robots in long-horizon challenging tasks. As large pre-trained models have demonstrated superior planning ability, recent…
Robust Visual Imitation Learning with Inverse Dynamics Representations
Siyuan Li, Xun Wang, Rongchang Zuo +5
Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for…