RoboHorizon: An LLM-Assisted Multi-View World Model for Long-Horizon Robotic Manipulation
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866913663767543808 |
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| author | Chen, Zixuan Huo, Jing Chen, Yangtao Gao, Yang |
| author_facet | Chen, Zixuan Huo, Jing Chen, Yangtao Gao, Yang |
| contents | Efficient control in long-horizon robotic manipulation is challenging due to complex representation and policy learning requirements. Model-based visual reinforcement learning (RL) has shown great potential in addressing these challenges but still faces notable limitations, particularly in handling sparse rewards and complex visual features in long-horizon environments. To address these limitations, we propose the Recognize-Sense-Plan-Act (RSPA) pipeline for long-horizon tasks and further introduce RoboHorizon, an LLM-assisted multi-view world model tailored for long-horizon robotic manipulation. In RoboHorizon, pre-trained LLMs generate dense reward structures for multi-stage sub-tasks based on task language instructions, enabling robots to better recognize long-horizon tasks. Keyframe discovery is then integrated into the multi-view masked autoencoder (MAE) architecture to enhance the robot's ability to sense critical task sequences, strengthening its multi-stage perception of long-horizon processes. Leveraging these dense rewards and multi-view representations, a robotic world model is constructed to efficiently plan long-horizon tasks, enabling the robot to reliably act through RL algorithms. Experiments on two representative benchmarks, RLBench and FurnitureBench, show that RoboHorizon outperforms state-of-the-art visual model-based RL methods, achieving a 23.35% improvement in task success rates on RLBench's 4 short-horizon tasks and a 29.23% improvement on 6 long-horizon tasks from RLBench and 3 furniture assembly tasks from FurnitureBench. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_06605 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | RoboHorizon: An LLM-Assisted Multi-View World Model for Long-Horizon Robotic Manipulation Chen, Zixuan Huo, Jing Chen, Yangtao Gao, Yang Robotics Efficient control in long-horizon robotic manipulation is challenging due to complex representation and policy learning requirements. Model-based visual reinforcement learning (RL) has shown great potential in addressing these challenges but still faces notable limitations, particularly in handling sparse rewards and complex visual features in long-horizon environments. To address these limitations, we propose the Recognize-Sense-Plan-Act (RSPA) pipeline for long-horizon tasks and further introduce RoboHorizon, an LLM-assisted multi-view world model tailored for long-horizon robotic manipulation. In RoboHorizon, pre-trained LLMs generate dense reward structures for multi-stage sub-tasks based on task language instructions, enabling robots to better recognize long-horizon tasks. Keyframe discovery is then integrated into the multi-view masked autoencoder (MAE) architecture to enhance the robot's ability to sense critical task sequences, strengthening its multi-stage perception of long-horizon processes. Leveraging these dense rewards and multi-view representations, a robotic world model is constructed to efficiently plan long-horizon tasks, enabling the robot to reliably act through RL algorithms. Experiments on two representative benchmarks, RLBench and FurnitureBench, show that RoboHorizon outperforms state-of-the-art visual model-based RL methods, achieving a 23.35% improvement in task success rates on RLBench's 4 short-horizon tasks and a 29.23% improvement on 6 long-horizon tasks from RLBench and 3 furniture assembly tasks from FurnitureBench. |
| title | RoboHorizon: An LLM-Assisted Multi-View World Model for Long-Horizon Robotic Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2501.06605 |