{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/conditionally-combining-robot-skills-using","title":"Conditionally Combining Robot Skills using Large Language Models","arxiv_id":"2310.17019","date":"2023-10-25","proceeding":null,"authors":["K. R. Zentner","Ryan Julian","Brian Ichter","Gaurav S. Sukhatme"],"abstract":"This paper combines two contributions. First, we introduce an extension of the Meta-World benchmark, which we call \"Language-World,\" which allows a large language model to operate in a simulated robotic environment using semi-structured natural language queries and scripted skills described using natural language. By using the same set of tasks as Meta-World, Language-World results can be easily compared to Meta-World results, allowing for a point of comparison between recent methods using Large Language Models (LLMs) and those using Deep Reinforcement Learning. Second, we introduce a method we call Plan Conditioned Behavioral Cloning (PCBC), that allows finetuning the behavior of high-level plans using end-to-end demonstrations. Using Language-World, we show that PCBC is able to achieve strong performance in a variety of few-shot regimes, often achieving task generalization with as little as a single demonstration. We have made Language-World available as open-source software at https://github.com/krzentner/language-world/.","url_abs":"https://arxiv.org/abs/2310.17019v1","url_pdf":"https://arxiv.org/pdf/2310.17019v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"conditionally-combining-robot-skills-using","repo_url":"https://github.com/krzentner/language-world","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"deep-reinforcement-learning","task_name":"Deep Reinforcement Learning"},{"task_slug":"language-modeling","task_name":"Language Modeling"},{"task_slug":"language-modelling","task_name":"Language Modelling"},{"task_slug":"large-language-model","task_name":"Large Language Model"},{"task_slug":"natural-language-queries","task_name":"Natural Language Queries"}],"methods":[{"method_slug":"set","method_name":"SET"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}