The paper introduces PRM4RL, a framework that combines task planning and dense reward generation using large language models for reinforcement learning. It decomposes complex tasks into manageable subtasks and employs a fine‑grained progress function to monitor execution, which is then used to construct a Progress Reward Model for potential‑based reward shaping. Experiments on robotics control tasks show that PRM4RL outperforms existing LLM‑based planning and reward methods, achieving state‑of‑the‑art performance.
arXiv:2604.00055v2 Announce Type: replace-cross Abstract: Existing robotic foundation policies are trained primarily via large-scale imitation learning. While such models demonstrate strong capabilit...
arXiv:2606. 02194v1 Announce Type: new Abstract: Distilling expert demonstration data into large generative models using behavioral cloning is a scalable approach to learning capable policies for robotic control, particularly for dexterous manipulation.
arXiv:2606. 00083v1 Announce Type: cross Abstract: Reinforcement learning relies on accurate reward functions, which are often hand-crafted or even unavailable in real-world applications, such as robotics.
arXiv:2602. 19313v2 Announce Type: replace-cross Abstract: General-purpose robot learning requires dense, instruction-conditioned feedback that can distinguish meaningful task progress from stalled, failed, or partially completed behavior.
arXiv:2610.30097v1 Announce Type: cross Abstract: Vision-language-action (VLA) models have shown promise in robotic manipulation, but imitation learning (IL) alone often struggles to master complex l...
arXiv:2604. 00860v3 Announce Type: replace Abstract: Reinforcement Learning with Verifiable Rewards (RLVR) has become a central post-training paradigm for improving the reasoning capabilities of large language models.
The paper introduces PARTS, a real‑world subtask reinforcement learning framework that fine‑tunes a pretrained robot policy by focusing on critical bottleneck subtasks while keeping the base policy frozen. It uses agent‑generated selectors and success verifiers to provide local rewards, enabling learning even when full‑task successes are rare. Experiments on bimanual YAM and single‑arm Franka robots show that PARTS raises complete‑task success from 32% to 61% and from 50% to 95%, respectively, with only tens of minutes of real‑world RL rollouts and minimal human intervention.
Achieving strong optimization generalization across diverse optimization problems while requiring limited training resources remains a challenging problem for optimization-oriented large language models (LLMs). Existing approaches typically rely on large-scale supervised datasets, costly reasoning annotations, and expensive intermediate step verification, resulting in substantial training overhead.
arXiv:2603.16065v3 Announce Type: replace-cross Abstract: Reinforcement Learning (RL) has shown strong potential for improving robotic manipulation policies, yet its practical use remains bottlenecke...
The paper introduces Residual Reward Models (RRM) to enhance preference‑based reinforcement learning (PbRL) in robotics. RRMs decompose the true reward into a prior component—such as a heuristic, language‑generated, or IRL‑derived reward—and a learned residual that is trained with human preferences. Experiments on Meta‑World, DM‑Control, and a physical Franka Panda robot show that RRMs markedly improve sample efficiency and accelerate policy learning compared to standard PbRL methods.
arXiv:2510. 14828v3 Announce Type: replace Abstract: Improving the reasoning capabilities of embodied agents is crucial for robots to complete complex human instructions in long-view manipulation tasks successfully.
The paper introduces a framework for combining large language models (LLMs) with reinforcement learning (RL) by treating the LLM as a planner and the RL agent as a controller. It formalizes this hybrid setup as a Goal-Augmented Markov Decision Process and proves that using the LLM’s per‑state progress score as a bounded potential function preserves the optimal policy set, even if the LLM scores are inaccurate. The authors validate their theoretical result with numerical experiments on a small MDP, testing four potential configurations, including an adversarial case with a potential scaled twenty times the base reward.