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.
Listing 4:Prompt in Inner Monologue in Kitchen mobile manipulation environment with Human interaction Robot: Hi there, I’m a robot operating in an office kitchen
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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.