# Prompt Informed Reinforcement Learning for Visual Coverage Path Planning

arXiv: https://arxiv.org/abs/2507.10284 · HTML: https://mlsanity.com/paper/2507.10284/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in RL for robot navigation and UAV control, one of 15 directions in Deep reinforcement learning methods.
- Builds on 17 of its 34 references that are in the map.
- First posted on arXiv 14 Jul 2025.

## Placed in

- Deep reinforcement learning methods / [RL for robot navigation and UAV control](https://mlsanity.com/deeprl/rl-for-robot-navigation-and-uav-control/)

## Builds on (most cited first, 17 of 17)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformer](https://mlsanity.com/paper/1910.10683/) (2019)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [TabNet: Attentive Interpretable Tabular Learning](https://mlsanity.com/paper/1908.07442/) (2019)
- [Language to Rewards for Robotic Skill Synthesis](https://mlsanity.com/paper/2306.08647/) (2023)
- [Reward Design with Language Models](https://mlsanity.com/paper/2303.00001/) (2023)
- [General-Purpose In-Context Learning by Meta-Learning Transformers](https://mlsanity.com/paper/2212.04458/) (2022)
- [InfoRM: Mitigating Reward Hacking in RLHF via Information-Theoretic Reward Modeling](https://mlsanity.com/paper/2402.09345/) (2024)
- [Reinforcement Learning Enhanced LLMs: A Survey](https://mlsanity.com/paper/2412.10400/) (2024)
- [Correcting Robot Plans with Natural Language Feedback](https://mlsanity.com/paper/2204.05186/) (2022)
- [Language Instructed Reinforcement Learning for Human-AI Coordination](https://mlsanity.com/paper/2304.07297/) (2023)
- [Hierarchical Model-Based Imitation Learning for Planning in Autonomous Driving](https://mlsanity.com/paper/2210.09539/) (2022)
- [Self-Imitation Learning by Planning](https://mlsanity.com/paper/2103.13834/) (2021)
- [A Vision Based Deep Reinforcement Learning Algorithm for UAV Obstacle Avoidance](https://mlsanity.com/paper/2103.06403/) (2021)

## Abstract (arXiv)

Visual coverage path planning with unmanned aerial vehicles (UAVs) requires agents to strategically coordinate UAV motion and camera control to maximize coverage, minimize redundancy, and maintain battery efficiency. Traditional reinforcement learning (RL) methods rely on environment-specific reward formulations that lack semantic adaptability. This study proposes Prompt-Informed Reinforcement Learning (PIRL), a novel approach that integrates the zero-shot reasoning ability and in-context learning capability of large language models with curiosity-driven RL. PIRL leverages semantic feedback from an LLM, GPT-3.5, to dynamically shape the reward function of the Proximal Policy Optimization (PPO) RL policy guiding the agent in position and camera adjustments for optimal visual coverage. The PIRL agent is trained using OpenAI Gym and evaluated in various environments. Furthermore, the sim-to-real-like ability and zero-shot generalization of the agent are tested by operating the agent in Webots simulator which introduces realistic physical dynamics. Results show that PIRL outperforms multiple learning-based baselines such as PPO with static rewards, PPO with exploratory weight initialization, imitation learning, and an LLM-only controller. Across different environments, PIRL outperforms the best-performing baseline by achieving up to 14% higher visual coverage in OpenAI Gym and 27% higher in Webots, up to 25% higher battery efficiency, and up to 18% lower redundancy, depending on the environment. The results highlight the effectiveness of LLM-guided reward shaping in complex spatial exploration tasks and suggest a promising direction for integrating natural language priors into RL for robotics.