{"id":"https://openalex.org/W4413947076","doi":"https://doi.org/10.1109/icra55743.2025.11128783","title":"CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills Using Large Language Models","display_name":"CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills Using Large Language Models","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413947076","doi":"https://doi.org/10.1109/icra55743.2025.11128783"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128783","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035548631","display_name":"Kanghyun Ryu","orcid":"https://orcid.org/0000-0002-6075-5590"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kanghyun Ryu","raw_affiliation_strings":["University of California,Mechanical Engineering,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Mechanical Engineering,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017714457","display_name":"Qiayuan Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qiayuan Liao","raw_affiliation_strings":["University of California,Mechanical Engineering,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Mechanical Engineering,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735594","display_name":"Zhongyu Li","orcid":"https://orcid.org/0000-0001-8040-1098"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhongyu Li","raw_affiliation_strings":["University of California,Mechanical Engineering,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Mechanical Engineering,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077115606","display_name":"Payam Delgosha","orcid":"https://orcid.org/0000-0003-0266-9237"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Payam Delgosha","raw_affiliation_strings":["University of Illinois, Urbana-Champaign,Computer Science department"],"affiliations":[{"raw_affiliation_string":"University of Illinois, Urbana-Champaign,Computer Science department","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Koushil Sreenath","raw_affiliation_strings":["University of California,Mechanical Engineering,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Mechanical Engineering,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062267932","display_name":"Negar Mehr","orcid":"https://orcid.org/0000-0002-1045-4423"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Negar Mehr","raw_affiliation_strings":["University of California,Mechanical Engineering,Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Mechanical Engineering,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5035548631"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35343689,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4470","last_page":"4477"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14470","display_name":"Advanced Data Processing Techniques","score":0.8928999900817871,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T14470","display_name":"Advanced Data Processing Techniques","score":0.8928999900817871,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.7663000226020813,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13844","display_name":"Higher Education Learning Practices","score":0.7588000297546387,"subfield":{"id":"https://openalex.org/subfields/3304","display_name":"Education"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7424782514572144},{"id":"https://openalex.org/keywords/curriculum","display_name":"Curriculum","score":0.6783250570297241},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6353366374969482},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5482218861579895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43668678402900696},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4207395315170288},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4111872911453247},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3526734709739685},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14153802394866943},{"id":"https://openalex.org/keywords/pedagogy","display_name":"Pedagogy","score":0.12566933035850525},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.116752028465271},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09426355361938477}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7424782514572144},{"id":"https://openalex.org/C47177190","wikidata":"https://www.wikidata.org/wiki/Q207137","display_name":"Curriculum","level":2,"score":0.6783250570297241},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6353366374969482},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5482218861579895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43668678402900696},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4207395315170288},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4111872911453247},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3526734709739685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14153802394866943},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.12566933035850525},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.116752028465271},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09426355361938477}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128783","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1924762813","https://openalex.org/W2575705757","https://openalex.org/W2902907165","https://openalex.org/W2962887844","https://openalex.org/W2964654516","https://openalex.org/W2968917487","https://openalex.org/W2972758308","https://openalex.org/W3040707741","https://openalex.org/W3123742938","https://openalex.org/W3142849873","https://openalex.org/W3206620955","https://openalex.org/W4322730824","https://openalex.org/W4367016688","https://openalex.org/W4383097638","https://openalex.org/W4383108457","https://openalex.org/W4402354036","https://openalex.org/W4402354151","https://openalex.org/W4402716424","https://openalex.org/W4403741606","https://openalex.org/W4407951437"],"related_works":["https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3196817267","https://openalex.org/W1976600725","https://openalex.org/W1564680838","https://openalex.org/W2003125260","https://openalex.org/W2060591604","https://openalex.org/W1992291644","https://openalex.org/W2967461658","https://openalex.org/W2166791242"],"abstract_inverted_index":{"Curriculum":[0],"learning":[1,8,132,151,209],"is":[2,51,229],"a":[3,30,143],"training":[4,60],"mechanism":[5],"in":[6,92,105,152,164,192,224],"reinforcement":[7],"(RL)":[9],"that":[10,52,147,205],"facilitates":[11],"the":[12,20,87,117,130,169,225],"achievement":[13],"of":[14,90,123,133,145,162],"complex":[15,134,210],"policies":[16,181],"by":[17],"progressively":[18],"increasing":[19],"task":[21,32,107,150,166],"difficulty":[22],"during":[23],"training.":[24],"However,":[25],"designing":[26],"effective":[27],"curricula":[28],"for":[29,74,99,125],"specific":[31],"often":[33],"requires":[34],"extensive":[35,59],"domain":[36],"knowledge":[37],"and":[38,65,79,120,172,176,186,201],"human":[39],"intervention,":[40],"which":[41,115],"limits":[42],"its":[43],"applicability":[44],"across":[45,82],"various":[46,83,193],"domains.":[47],"Our":[48],"core":[49],"idea":[50],"large":[53],"language":[54,63,95,154,160],"models":[55],"(LLMs),":[56],"with":[57],"their":[58,103],"on":[61,183],"diverse":[62],"data":[64],"ability":[66],"to":[67,203],"encapsulate":[68],"world":[69],"knowledge,":[70],"present":[71],"significant":[72],"potential":[73],"efficiently":[75],"breaking":[76],"down":[77],"tasks":[78],"decomposing":[80],"skills":[81],"robotics":[84,194],"environments.":[85],"Additionally,":[86],"demonstrated":[88],"success":[89],"LLMs":[91,124],"translating":[93],"natural":[94,153,159],"into":[96],"executable":[97,165],"code":[98,171],"RL":[100],"agents":[101],"strengthens":[102],"role":[104],"generating":[106],"curricula.":[108],"In":[109,214],"this":[110],"work,":[111],"we":[112,216],"propose":[113],"CurricuLLM,":[114],"leverages":[116],"high-level":[118],"planning":[119],"programming":[121],"capabilities":[122],"curriculum":[126],"design,":[127],"thereby":[128],"enhancing":[129],"efficient":[131],"target":[135,149],"tasks.":[136,213],"CurricuLLM":[137,206,223],"consists":[138],"of:":[139],"(Step":[140,156,177],"1)":[141],"Generating":[142],"sequence":[144],"subtasks":[146,163],"aid":[148,208],"form,":[155],"2)":[157],"Translating":[158],"description":[161],"code,":[167,175],"including":[168],"reward":[170],"goal":[173],"distribution":[174],"3)":[178],"Evaluating":[179],"trained":[180],"based":[182],"trajectory":[184],"rollout":[185],"subtask":[187],"description.":[188],"We":[189],"evaluate":[190],"Cur-ricuLLM":[191],"simulation":[195],"environments,":[196],"ranging":[197],"from":[198],"manipulation,":[199],"navigation,":[200],"locomotion,":[202],"show":[204],"can":[207],"robot":[211],"control":[212],"addition,":[215],"validate":[217],"humanoid":[218],"locomotion":[219],"policy":[220],"learned":[221],"through":[222],"real-world.":[226],"Project":[227],"website":[228],"https://iconlab.negarmehr.com/CurricuLLM/":[230]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
