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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Pre-trained Language Models as Prior Knowledge for Playin...
Ishika Singh, Gargi Singh, Ashutosh Modi · 2021-07-18 · via cs.RO updates on arXiv.org

Recently, text world games have been proposed to enable artificial agents to understand and reason about real-world scenarios. These text-based games are challenging for artificial agents, as it requires an understanding of and interaction using natural language in a partially observable environment. Agents observe the environment via textual descriptions designed to be challenging enough for even human players. Past approaches have not paid enough attention to the language understanding capability of the proposed agents. Typically, these approaches train from scratch, an agent that learns both textual representations and the gameplay online during training using a temporal loss function. Given the sample-inefficiency of RL approaches, it is inefficient to learn rich enough textual representations to be able to understand and reason using the textual observation in such a complicated game environment setting. In this paper, we improve the semantic understanding of the agent by proposing a simple RL with LM framework where we use transformer-based language models with Deep RL models. We perform a detailed study of our framework to demonstrate how our model outperforms all existing agents on the popular game, Zork1, to achieve a score of 44.7, which is 1.6 higher than the state-of-the-art model. Overall, our proposed approach outperforms 4 games out of the 14 text-based games, while performing comparable to the state-of-the-art models on the remaining games.