LGR2: Language Guided Reward Relabeling for Accelerating Hierarchical Reinforcement Learning

원문 초록

Developing interactive systems that utilize natural language instructions to solve complex robotic control tasks has long been a goal of the robotics community. While Large Language Models (LLMs) excel at logical reasoning, in-context learning, and code generation, translating high-level instructions into low-level robotic actions still remains challenging. Furthermore, solving such tasks often requires acquiring policies to execute diverse subtasks and integrating them to achieve the final objective. Hierarchical Reinforcement Learning (HRL) offers a promising solution for solving such tasks by enabling temporal abstraction and improved exploration. However, HRL suffers from non-stationarity caused by the changing lower-level behaviour, which hinders effective policy learning. We propose LGR2, a novel HRL framework that mitigates non-stationarity in HRL by using language-guided higher-level rewards that remain unaffected by the changing lower-level policy behaviour. To analyze the efficacy of our approach, we perform empirical analysis to demonstrate that LGR2 effectively mitigates non-stationarity in HRL and attains success rates exceeding 70% in challenging, sparsely-rewarded robotic navigation and manipulation environments, where other baselines typically fail to show significant progress. Finally, we perform real-world robotic experiments on complex tasks and demonstrate that LGR2 consistently outperforms the baselines.