Publications

@inproceedings{2023-Kumar-WIALDHRBULGIM,

title = {Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement},

author = {K. Niranjan Kumar and Irfan Essa and Sehoon Ha},

url = {https://doi.org/10.48550/arXiv.2310.06226

https://arxiv.org/abs/2310.06226

https://arxiv.org/pdf/2310.06226.pdf

https://www.kniranjankumar.com/words_into_action/

},

doi = {10.48550/arXiv.2310.06226},

year  = {2023},

date = {2023-11-01},

urldate = {2023-11-01},

booktitle = {CoRL Workshop on Language and Robot Learning Language as Grounding (with CoRL 2023)},

abstract = {We present a method to simplify controller design by enabling users to train and fine-tune robot control policies using natural language commands. We first learn a neural network policy that generates behaviors given a natural language command, such as “walk forward”, by combining Large Language Models (LLMs), motion retargeting, and motion imitation. Based on the synthesized motion, we iteratively fine-tune by updating the text prompt and querying LLMs to find the best checkpoint associated with the closest motion in history.},

keywords = {arXiv, CoRL, robotics, vision & language},

pubstate = {published},

tppubtype = {inproceedings}

}