3 papers
cs.RO2026
Articulated-Body Dynamics Network: Dynamics-Grounded Prior for Robot Learning
Sangwoo Shin, Kunzhao Ren, Xiaobin Xiong +1
Recent work in reinforcement learning has shown that incorporating structural priors for articulated robots, such as link connectivity, into policy networks improves learning effic…
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…