Lifelong Robot Library Learning: Bootstrapping Composable and Generalizable Skills for Embodied Control with Language Models
Georgios Tziafas,Hamidreza Kasaei,Georgios Tziafas,Hamidreza Kasaei
Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of vision and control primitive skills. However, prior arts fix their skills library and steer the LLM with carefully handcrafted prompt engineering, limiting the agent to a stationary range of addressable tasks. In this work, ...
