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Amos-Storkeystate-estimation
2024
Dongge Han, Trevor McInroe, Adam Jelley, Stefano V. Albrecht, Peter Bell, Amos Storkey
LLM-Personalize: Aligning LLM Planners with Human Preferences via Reinforced Self-Training for Housekeeping Robots
arXiv:2404.14285, 2024
Abstract | BibTex | arXiv | Code | Website
generalisationstate-estimation
Abstract:
Large language models (LLMs) have shown significant potential for robotics applications, particularly task planning, by harnessing their language comprehension and text generation capabilities. However, in applications such as household robotics, a critical gap remains in the personalization of these models to individual user preferences. We introduce LLM-Personalize, a novel framework with an optimization pipeline designed to personalize LLM planners for household robotics. Our LLM-Personalize framework features an LLM planner that performs iterative planning in multi-room, partially-observable household scenarios, making use of a scene graph constructed with local observations. The generated plan consists of a sequence of high-level actions which are subsequently executed by a controller. Central to our approach is the optimization pipeline, which combines imitation learning and iterative self-training to personalize the LLM planner. In particular, the imitation learning phase performs initial LLM alignment from demonstrations, and bootstraps the model to facilitate effective iterative self-training, which further explores and aligns the model to user preferences. We evaluate LLM-Personalize on Housekeep, a challenging simulated real-world 3D benchmark for household rearrangements, and show that LLM-Personalize achieves more than a 30 percent increase in success rate over existing LLM planners, showcasing significantly improved alignment with human preferences.
@misc{han2024llmpersonalize,
title={LLM-Personalize: Aligning LLM Planners with Human Preferences via Reinforced Self-Training for Housekeeping Robots},
author={Dongge Han and Trevor McInroe and Adam Jelley and Stefano V. Albrecht and Peter Bell and Amos Storkey},
year={2024},
eprint={2404.14285},
archivePrefix={arXiv},
primaryClass={cs.RO}
}