Kunpeng Yao

Noémie Jaquier, Michael C. Welle, Andrej Gams et al.

Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situations -- is successfully leveraged by humans to handle novel situations. In recent years, transfer learning has received renewed interest from the community from different perspectives, including imitation learning, domain adaptation, and transfer of experience from simulation to the real world, among others. In this paper, we unify the concept of transfer learning in robotics and provide the first taxonomy of its kind considering the key concepts of robot, task, and environment. Through a review of the promises and challenges in the field, we identify the need of transferring at different abstraction levels, the need of quantifying the transfer gap and the quality of transfer, as well as the dangers of negative transfer. Via this position paper, we hope to channel the effort of the community towards the most significant roadblocks to realize the full potential of transfer learning in robotics.

Zhehua Zhou, Jiayang Song, Kunpeng Yao et al.

Motivated by the substantial achievements observed in Large Language Models (LLMs) in the field of natural language processing, recent research has commenced investigations into the application of LLMs for complex, long-horizon sequential task planning challenges in robotics. LLMs are advantageous in offering the potential to enhance the generalizability as task-agnostic planners and facilitate flexible interaction between human instructors and planning systems. However, task plans generated by LLMs often lack feasibility and correctness. To address this challenge, we introduce ISR-LLM, a novel framework that improves LLM-based planning through an iterative self-refinement process. The framework operates through three sequential steps: preprocessing, planning, and iterative self-refinement. During preprocessing, an LLM translator is employed to convert natural language input into a Planning Domain Definition Language (PDDL) formulation. In the planning phase, an LLM planner formulates an initial plan, which is then assessed and refined in the iterative self-refinement step by using a validator. We examine the performance of ISR-LLM across three distinct planning domains. The results show that ISR-LLM is able to achieve markedly higher success rates in task accomplishments compared to state-of-the-art LLM-based planners. Moreover, it also preserves the broad applicability and generalizability of working with natural language instructions.

Federico Tessari, Kunpeng Yao, Neville Hogan

Advances in computational power and hardware efficiency have enabled tackling increasingly complex, high-dimensional problems. While artificial intelligence (AI) achieves remarkable results, the interpretability of high-dimensional solutions remains challenging. A critical issue is the comparison of multidimensional quantities, essential in techniques like Principal Component Analysis. Metrics such as cosine similarity are often used, for example in the development of natural language processing algorithms or recommender systems. However, the interpretability of such metrics diminishes as dimensions increase. This paper analyzes the effects of dimensionality, revealing significant limitations of cosine similarity, particularly its dependency on the dimension of vectors, leading to biased and poorly interpretable outcomes. To address this, we introduce a Dimension Insensitive Euclidean Metric (DIEM) which demonstrates superior robustness and generalizability across dimensions. DIEM maintains consistent variability and eliminates the biases observed in traditional metrics, making it a reliable tool for high-dimensional comparisons. An example of the advantages of DIEM over cosine similarity is reported for a large language model application. This novel metric has the potential to replace cosine similarity, providing a more accurate and insightful method to analyze multidimensional data in fields ranging from neuromotor control to machine learning.