3 papers
cs.RO2023
DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment
Yanjiang Guo, Yen-Jen Wang, Lihan Zha +1
Large language models (LLMs) encode a vast amount of semantic knowledge and possess remarkable understanding and reasoning capabilities. Previous work has explored how to ground LL…
cs.RO2023
Decentralized Motor Skill Learning for Complex Robotic Systems
Yanjiang Guo, Zheyuan Jiang, Yen-Jen Wang +2
Reinforcement learning (RL) has achieved remarkable success in complex robotic systems (eg. quadruped locomotion). In previous works, the RL-based controller was typically implemen…
cs.RO2023
Learning Robust, Agile, Natural Legged Locomotion Skills in the Wild
Yikai Wang, Zheyuan Jiang, Jianyu Chen
Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers…