Sajjad Hussain

Md Saad, Sajjad Hussain, Mohd Suhaib

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task planning and understanding of natural language, the proposed framework effectively connects low-level execution with high-level reasoning in robotic systems. This integration allows robots to understand and carry out complex, human-like instructions while adapting to changing environments in real time. The framework is tested in a PyBullet-based simulation environment using the Franka Emika Panda robotic arm, with various manipulation scenarios as benchmarks. The results show a 33.5% decrease in task completion time and enhancements of 18.1% and 36.4% in accuracy and adaptability, respectively, when compared to systems that use only RL. These results underscore the potential of LLM-enhanced robotic systems for practical applications, making them more efficient, adaptable, and capable of interacting with humans. Future research will aim to explore sim-to-real transfer, scalability, and multi-robot systems to further broaden the framework's applicability.

Metin Ozturk, Attai Ibrahim Abubakar, Rao Naveed Bin Rais et al.

A novel approach is presented in this work for context-aware connectivity and processing optimization of Internet of things (IoT) networks. Different from the state-of-the-art approaches, the proposed approach simultaneously selects the best connectivity and processing unit (e.g., device, fog, and cloud) along with the percentage of data to be offloaded by jointly optimizing energy consumption, response-time, security, and monetary cost. The proposed scheme employs a reinforcement learning algorithm, and manages to achieve significant gains compared to deterministic solutions. In particular, the requirements of IoT devices in terms of response-time and security are taken as inputs along with the remaining battery level of the devices, and the developed algorithm returns an optimized policy. The results obtained show that only our method is able to meet the holistic multi-objective optimisation criteria, albeit, the benchmark approaches may achieve better results on a particular metric at the cost of failing to reach the other targets. Thus, the proposed approach is a device-centric and context-aware solution that accounts for the monetary and battery constraints.