Paper ID: 2309.14321

Lifelong Robot Learning with Human Assisted Language Planners

Meenal Parakh, Alisha Fong, Anthony Simeonov, Tao Chen, Abhishek Gupta, Pulkit Agrawal

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of skills. We overcome this critical limitation and present a method for using LLM-based planners to query new skills and teach robots these skills in a data and time-efficient manner for rigid object manipulation. Our system can re-use newly acquired skills for future tasks, demonstrating the potential of open world and lifelong learning. We evaluate the proposed framework on multiple tasks in simulation and the real world. Videos are available at: https://sites.google.com/mit.edu/halp-robot-learning.

Submitted: Sep 25, 2023