ACTLLM trains an LLM to jointly produce structured scene descriptions and actions, and reports improved compositional and zero-shot generalization on CLIPORT and VIMA.
Cliport: What and where pathways for robotic manipulation,
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ACTLLM: Action Consistency Tuned Large Language Model
ACTLLM trains an LLM to jointly produce structured scene descriptions and actions, and reports improved compositional and zero-shot generalization on CLIPORT and VIMA.