Learning Reward for Physical Skills using Large Language Model

Understand

Learning reward functions for physical skills are challenging due to the vast spectrum of skills, the high-dimensionality of state and action space, and nuanced sensory feedback.

• The complexity of these tasks makes acquiring expert demonstration data both costly and time-consuming.
• Large Language Models (LLMs) contain valuable task-related knowledge that can aid in learning these reward functions.
• However, the direct application of LLMs for proposing reward functions has its limitations such as numerical instability and inability to incorporate the environment feedback.