3 papers
cs.RO2024
ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning
Christopher E. Mower, Yuhui Wan, Hongzhan Yu +20
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our sys…
cs.LG2024
Distilling Morphology-Conditioned Hypernetworks for Efficient Universal Morphology Control
Zheng Xiong, Risto Vuorio, Jacob Beck +3
Learning a universal policy across different robot morphologies can significantly improve learning efficiency and enable zero-shot generalization to unseen morphologies. However, l…
cs.AI2023
Pangu-Agent: A Fine-Tunable Generalist Agent with Structured Reasoning
Filippos Christianos, Georgios Papoudakis, Matthieu Zimmer +13
A key method for creating Artificial Intelligence (AI) agents is Reinforcement Learning (RL). However, constructing a standalone RL policy that maps perception to action directly e…