analiza aiqbench
This research introduces LEACL, a framework that leverages large language models to automatically decompose complex manipulation tasks and generate specifications for reinforcement learning agents using only sparse rewards. By eliminating the need for manually crafted dense reward functions, this approach addresses critical bottlenecks in training long-horizon robotic systems while reducing human supervision requirements. The method demonstrates improved success rates on standard benchmarks like LIBERO, marking a significant step toward more autonomous robot learning pipelines.
LEACL: LLM-Enhanced Automatic Curriculum Learning for Reinforcement Learning in Long-Horizon Manipulation Tasks
arXiv:2607.23515v1 Announce Type: new Abstract: Long-horizon manipulation tasks pose significant challenges for reinforcement learning due to sparse reward signals and long horizons. Automatic curriculum learning (ACL) has been proposed to tackle these challenges by progressively training agents on a sequence of tasks, from easier to more difficult. However, the success of ACL depends heavily on task-dependent specifications-such as well-defined task parameter spaces and difficulty measures-which are often manually crafted and difficult to generalize across diverse tasks. Recent advances in large language models (LLMs) offer a promising alternative by enabling the decomposition of complex tasks into meaningful subtasks using the LLMs' web-scale common-sense knowledge. This decomposition can provide a natural curriculum structure for efficient learning of long-horizon tasks. However, existing LLM-based methods typically rely on hand-designed dense reward functions to learn each subtask, which can introduce bias and still requires significant human supervision. In this work, we propose LLM-enhanced automatic curriculum learning (LEACL), a framework that integrates LLMs and ACL to address these limitations. Specifically, LLMs are used to both decompose tasks into subtasks and to generate task-dependent specifications for each subtask. These specifications are then used by ACL algorithms to guide learning using only sparse reward signals, eliminating the need for dense reward design. We evaluate LEACL on five long-horizon manipulation tasks from the LIBERO benchmark. LEACL achieves better asymptotic performance in terms of the success rates compared to human-designed dense rewards.
Abstract:Long-horizon manipulation tasks pose significant challenges for reinforcement learning due to sparse reward signals and long horizons. Automatic curriculum learning (ACL) has been proposed to tackle these challenges by progressively training agents on a sequence of tasks, from easier to more difficult. However, the success of ACL depends heavily on task-dependent specifications-such as well-defined task parameter spaces and difficulty measures-which are often manually crafted and difficult to generalize across diverse tasks. Recent advances in large language models (LLMs) offer a promising alternative by enabling the decomposition of complex tasks into meaningful subtasks using the LLMs' web-scale common-sense knowledge. This decomposition can provide a natural curriculum structure for efficient learning of long-horizon tasks. However, existing LLM-based methods typically rely on hand-designed dense reward functions to learn each subtask, which can introduce bias and still requires significant human supervision. In this work, we propose LLM-enhanced automatic curriculum learning (LEACL), a framework that integrates LLMs and ACL to address these limitations. Specifically, LLMs are used to both decompose tasks into subtasks and to generate task-dependent specifications for each subtask. These specifications are then used by ACL algorithms to guide learning using only sparse reward signals, eliminating the need for dense reward design. We evaluate LEACL on five long-horizon manipulation tasks from the LIBERO benchmark. LEACL achieves better asymptotic performance in terms of the success rates compared to human-designed dense rewards.
Robotics (cs.RO)
arXiv:2607.23515 [cs.RO]
(or arXiv:2607.23515v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.23515 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.
Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.
Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Text integral sub licența deschisă a publicației · 320 cuvinte
Subiecte conexe
News
Quantum Computing Report · 25 iul. 2026
Digital States 2026: AI Moves From Experiment to Infrastructure
govtech.com · 24 sept. 2026
Models Can't Remember Their Training. Neither Can You.
LessWrong · 19 iul. 2026
Physics-enhanced reinforcement learning for real-time optimal control of dynamical systems
arXiv · 20 iul. 2026