DEMONSTRATE learns a zero-shot mapping from natural-language embeddings to MPC cost parameters from demonstrations, achieving tabletop manipulation success rates comparable to prior LLM-based pipelines.
Learning to synthesize programs as interpretable and generalizable policies,
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DEMONSTRATE: Zero-shot Language to Robotic Control via Multi-task Demonstration Learning
DEMONSTRATE learns a zero-shot mapping from natural-language embeddings to MPC cost parameters from demonstrations, achieving tabletop manipulation success rates comparable to prior LLM-based pipelines.