Yuxuan Lou

Tomoyuki Kagaya, Thong Jing Yuan, Yuxuan Lou et al.

Owing to recent advancements, Large Language Models (LLMs) can now be deployed as agents for increasingly complex decision-making applications in areas including robotics, gaming, and API integration. However, reflecting past experiences in current decision-making processes, an innate human behavior, continues to pose significant challenges. Addressing this, we propose Retrieval-Augmented Planning (RAP) framework, designed to dynamically leverage past experiences corresponding to the current situation and context, thereby enhancing agents' planning capabilities. RAP distinguishes itself by being versatile: it excels in both text-only and multimodal environments, making it suitable for a wide range of tasks. Empirical evaluations demonstrate RAP's effectiveness, where it achieves SOTA performance in textual scenarios and notably enhances multimodal LLM agents' performance for embodied tasks. These results highlight RAP's potential in advancing the functionality and applicability of LLM agents in complex, real-world applications.

Tomoyuki Kagaya, Subramanian Lakshmi, Yuxuan Lou et al.

Large language models (LLMs) are increasingly explored in robot manipulation, but many existing methods struggle to adapt to new environments. Many systems require either environment-specific policy training or depend on fixed prompts and single-shot code generation, leading to limited transferability and manual re-tuning. We introduce Memory Transfer Planning (MTP), a framework that leverages successful control-code examples from different environments as procedural knowledge, using them as in-context guidance for LLM-driven planning. Specifically, MTP (i) generates an initial plan and code using LLMs, (ii) retrieves relevant successful examples from a code memory, and (iii) contextually adapts the retrieved code to the target setting for re-planning without updating model parameters. We evaluate MTP on RLBench, CALVIN, and a physical robot, demonstrating effectiveness beyond simulation. Across these settings, MTP consistently improved success rate and adaptability compared with fixed-prompt code generation, naive retrieval, and memory-free re-planning. Furthermore, in hardware experiments, leveraging a memory constructed in simulation proved effective. MTP provides a practical approach that exploits procedural knowledge to realize robust LLM-based planning across diverse robotic manipulation scenarios, enhancing adaptability to novel environments and bridging simulation and real-world deployment.

Tomoyuki Kagaya, Yuxuan Lou, Thong Jing Yuan et al.

In recent years, Large Language Models (LLMs) have demonstrated high reasoning capabilities, drawing attention for their applications as agents in various decision-making processes. One notably promising application of LLM agents is robotic manipulation. Recent research has shown that LLMs can generate text planning or control code for robots, providing substantial flexibility and interaction capabilities. However, these methods still face challenges in terms of flexibility and applicability across different environments, limiting their ability to adapt autonomously. Current approaches typically fall into two categories: those relying on environment-specific policy training, which restricts their transferability, and those generating code actions based on fixed prompts, which leads to diminished performance when confronted with new environments. These limitations significantly constrain the generalizability of agents in robotic manipulation. To address these limitations, we propose a novel method called EnvBridge. This approach involves the retention and transfer of successful robot control codes from source environments to target environments. EnvBridge enhances the agent's adaptability and performance across diverse settings by leveraging insights from multiple environments. Notably, our approach alleviates environmental constraints, offering a more flexible and generalizable solution for robotic manipulation tasks. We validated the effectiveness of our method using robotic manipulation benchmarks: RLBench, MetaWorld, and CALVIN. Our experiments demonstrate that LLM agents can successfully leverage diverse knowledge sources to solve complex tasks. Consequently, our approach significantly enhances the adaptability and robustness of robotic manipulation agents in planning across diverse environments.