SayCan combines an LLM's high-level semantic knowledge with robot skill value functions to select only feasible actions, enabling completion of abstract natural-language instructions on a real mobile manipulator.
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LLMs form an inner monologue from closed-loop language feedback to improve high-level instruction completion in simulated and real robotic rearrangement and kitchen manipulation tasks.
citing papers explorer
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Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
SayCan combines an LLM's high-level semantic knowledge with robot skill value functions to select only feasible actions, enabling completion of abstract natural-language instructions on a real mobile manipulator.
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Inner Monologue: Embodied Reasoning through Planning with Language Models
LLMs form an inner monologue from closed-loop language feedback to improve high-level instruction completion in simulated and real robotic rearrangement and kitchen manipulation tasks.