5 accepted papers
We address the problem of code generation from multi-turn execution feedback. Existing methods either generate code without feedback or use complex, hierarchical reinforcement learning to optimize multi-turn rewards. We propose a simple yet scalable approach, $\mu$CODE, that solves multi-turn code…
Effective asynchronous planning, or the ability to efficiently reason and plan over states and actions that must happen in parallel or sequentially, is essential for agents that must account for time delays, reason over diverse long-horizon tasks, and collaborate with other agents. While large langu…
Home robots performing personalized tasks must adeptly balance user preferences with environmental affordances. We focus on organization tasks within constrained spaces, such as arranging items into a refrigerator, where preferences for placement collide with physical limitations. The robot must inf…
We present MOSAIC, a modular architecture for coordinating multiple robots to (a) interact with users using natural language and (b) manipulate an open vocabulary of everyday objects. At several levels, MOSAIC employs modularity: it leverages multiple large-scale pre-trained models for high-level ta…
Language instructions and demonstrations are two natural ways for users to teach robots personalized tasks. Recent progress in Large Language Models (LLMs) has shown impressive performance in translating language instructions into code for robotic tasks. However, translating demonstrations into task…