LaGEA: Language Guided Embodied Agents for Robotic Manipulation

arXiv:2509.23155v3 Announce Type: replace Abstract: Robotic manipulation benefits from foundation models that describe goals, but today's agents still lack a principled way to learn from their own mistakes. We ask whether natural language can serve as feedback, an error-reasoning signal that helps embodied agents diagnose what went wrong and correct course. We introduce LaGEA (Language Guided Embodied Agents), a framework that turns episodic, schema-constrained reflections from a vision language model (VLM) into temporally grounded guidance for reinforcement learning. LaGEA summarizes each attempt in concise language, localizes the decisive moments in the trajectory, aligns feedback with visual state in a shared representation, and converts goal progress and feedback agreement into bounded, step-wise shaping rewards whose influence is modulated by an adaptive, failure-aware coefficient. This design yields dense signals early when exploration needs direction and gracefully recedes as competence grows. On the Meta-World MT10 and Robotic Fetch embodied manipulation benchmark, LaGEA improves average success over the state-of-the-art (SOTA) methods by 9.0% on random goals, 5.3% on fixed goals, and 17% on fetch tasks, while converging faster. These results support our hypothesis: language, when structured and grounded in time, is an effective mechanism for teaching robots to self-reflect on mistakes and make better choices.

Abstract:Robotic manipulation benefits from foundation models that describe goals, but today's agents still lack a principled way to learn from their own mistakes. We ask whether natural language can serve as feedback, an error-reasoning signal that helps embodied agents diagnose what went wrong and correct course. We introduce LaGEA (Language Guided Embodied Agents), a framework that turns episodic, schema-constrained reflections from a vision language model (VLM) into temporally grounded guidance for reinforcement learning. LaGEA summarizes each attempt in concise language, localizes the decisive moments in the trajectory, aligns feedback with visual state in a shared representation, and converts goal progress and feedback agreement into bounded, step-wise shaping rewards whose influence is modulated by an adaptive, failure-aware coefficient. This design yields dense signals early when exploration needs direction and gracefully recedes as competence grows. On the Meta-World MT10 and Robotic Fetch embodied manipulation benchmark, LaGEA improves average success over the state-of-the-art (SOTA) methods by 9.0% on random goals, 5.3% on fixed goals, and 17% on fetch tasks, while converging faster. These results support our hypothesis: language, when structured and grounded in time, is an effective mechanism for teaching robots to self-reflect on mistakes and make better choices.

Robotics (cs.RO)

arXiv:2509.23155 [cs.RO]

(or arXiv:2509.23155v3 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2509.23155 Focus to learn more arXiv-issued DOI via DataCite

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LaGEA: Language Guided Embodied Agents for Robotic Manipulation

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