Yell At Your Robot: Improving On-the-Fly from Language Corrections

arXiv:2403.12910v1 Announce Type: cross
Abstract: Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models (LLMs/VLMs) or models trained on annotated robotic demonstrations. However, for complex and dexterous skills, attaining high success rates on long-horizon tasks still represents a major challenge -- the longer the task is, the more likely it is that some stage will fail. Can humans help the …

arxiv cs.ai cs.lg cs.ro fly language robot type