# Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model

arXiv: https://arxiv.org/abs/2305.11176 · HTML: https://mlsanity.com/paper/2305.11176/

## Key facts

- Cited by 116 papers in the map (data through 14 Oct 2026).
- Builds on 40 of its 55 references that are in the map.
- First posted on arXiv 18 May 2023.

## Builds on (most cited first, 30 of 40)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [PaLM: Scaling Language Modeling with Pathways](https://mlsanity.com/paper/2204.02311/) (2022)
- [Large Language Models are Zero-Shot Reasoners](https://mlsanity.com/paper/2205.11916/) (2022)
- [Robust Speech Recognition via Large-Scale Weak Supervision](https://mlsanity.com/paper/2212.04356/) (2022)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Grounded Language-Image Pre-training](https://mlsanity.com/paper/2112.03857/) (2021)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [LLaMA-Adapter: Efficient Fine-tuning of Language Models with Zero-init Attention](https://mlsanity.com/paper/2303.16199/) (2023)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [Scaling Vision Transformers to 22 Billion Parameters](https://mlsanity.com/paper/2302.05442/) (2023)
- [Visual ChatGPT: Talking, Drawing and Editing with Visual Foundation Models](https://mlsanity.com/paper/2303.04671/) (2023)
- [CLIPort: What and Where Pathways for Robotic Manipulation](https://mlsanity.com/paper/2109.12098/) (2021)
- [ViperGPT: Visual Inference via Python Execution for Reasoning](https://mlsanity.com/paper/2303.08128/) (2023)
- [LLaMA-Adapter V2: Parameter-Efficient Visual Instruction Model](https://mlsanity.com/paper/2304.15010/) (2023)
- [Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation](https://mlsanity.com/paper/2209.05451/) (2022)
- [Visual Programming: Compositional visual reasoning without training](https://mlsanity.com/paper/2211.11559/) (2022)
- [Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language](https://mlsanity.com/paper/2204.00598/) (2022)
- [InternImage: Exploring Large-Scale Vision Foundation Models with Deformable Convolutions](https://mlsanity.com/paper/2211.05778/) (2022)
- [VIMA: General Robot Manipulation with Multimodal Prompts](https://mlsanity.com/paper/2210.03094/) (2022)
- [Transporter Networks: Rearranging the Visual World for Robotic Manipulation](https://mlsanity.com/paper/2010.14406/) (2020)

## Built on by (most cited first, 30 of 116)

- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [Fine-tuning Aligned Language Models Compromises Safety, Even When Users Do Not Intend To!](https://mlsanity.com/paper/2310.03693/) (2023)
- [Eureka: Human-Level Reward Design via Coding Large Language Models](https://mlsanity.com/paper/2310.12931/) (2023)
- [Cognitive Architectures for Language Agents](https://mlsanity.com/paper/2309.02427/) (2023)
- [LangSplat: 3D Language Gaussian Splatting](https://mlsanity.com/paper/2312.16084/) (2023)
- [Visual Adversarial Examples Jailbreak Aligned Large Language Models](https://mlsanity.com/paper/2306.13213/) (2023)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [Multimodal Foundation Models: From Specialists to General-Purpose Assistants](https://mlsanity.com/paper/2309.10020/) (2023)
- [EmbodiedBench: Comprehensive Benchmarking Multi-modal Large Language Models for Vision-Driven Embodied Agents](https://mlsanity.com/paper/2502.09560/) (2025)
- [DiLu: A Knowledge-Driven Approach to Autonomous Driving with Large Language Models](https://mlsanity.com/paper/2309.16292/) (2023)
- [RoCo: Dialectic Multi-Robot Collaboration with Large Language Models](https://mlsanity.com/paper/2307.04738/) (2023)
- [Drive Like a Human: Rethinking Autonomous Driving with Large Language Models](https://mlsanity.com/paper/2307.07162/) (2023)
- [SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models](https://mlsanity.com/paper/2309.10062/) (2023)
- [Genie Envisioner: A Unified World Foundation Platform for Robotic Manipulation](https://mlsanity.com/paper/2508.05635/) (2025)
- [ChartX & ChartVLM: A Versatile Benchmark and Foundation Model for Complicated Chart Reasoning](https://mlsanity.com/paper/2402.12185/) (2024)
- [SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation](https://mlsanity.com/paper/2410.08189/) (2024)
- [Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis](https://mlsanity.com/paper/2312.08782/) (2023)
- [Drive as You Speak: Enabling Human-Like Interaction with Large Language Models in Autonomous Vehicles](https://mlsanity.com/paper/2309.10228/) (2023)
- [RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Learning in Multi-Modal Large Language Model](https://mlsanity.com/paper/2402.10828/) (2024)
- [Vision Language Models are In-Context Value Learners](https://mlsanity.com/paper/2411.04549/) (2024)
- [Large Language Models for Robotics: Opportunities, Challenges, and Perspectives](https://mlsanity.com/paper/2401.04334/) (2024)
- [CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation](https://mlsanity.com/paper/2603.22435/) (2026)
- [DrEureka: Language Model Guided Sim-To-Real Transfer](https://mlsanity.com/paper/2406.01967/) (2024)
- [Octopus: Embodied Vision-Language Programmer from Environmental Feedback](https://mlsanity.com/paper/2310.08588/) (2023)
- [Receive, Reason, and React: Drive as You Say with Large Language Models in Autonomous Vehicles](https://mlsanity.com/paper/2310.08034/) (2023)
- [Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey](https://mlsanity.com/paper/2508.13073/) (2025)
- [Pure Vision Language Action (VLA) Models: A Comprehensive Survey](https://mlsanity.com/paper/2509.19012/) (2025)
- [A Survey of State of the Art Large Vision Language Models: Alignment, Benchmark, Evaluations and Challenges](https://mlsanity.com/paper/2501.02189/) (2025)
- [Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents](https://mlsanity.com/paper/2607.08448/) (2026)
- [Creative Robot Tool Use with Large Language Models](https://mlsanity.com/paper/2310.13065/) (2023)

## Abstract (arXiv)

Foundation models have made significant strides in various applications, including text-to-image generation, panoptic segmentation, and natural language processing. This paper presents Instruct2Act, a framework that utilizes Large Language Models to map multi-modal instructions to sequential actions for robotic manipulation tasks. Specifically, Instruct2Act employs the LLM model to generate Python programs that constitute a comprehensive perception, planning, and action loop for robotic tasks. In the perception section, pre-defined APIs are used to access multiple foundation models where the Segment Anything Model (SAM) accurately locates candidate objects, and CLIP classifies them. In this way, the framework leverages the expertise of foundation models and robotic abilities to convert complex high-level instructions into precise policy codes. Our approach is adjustable and flexible in accommodating various instruction modalities and input types and catering to specific task demands. We validated the practicality and efficiency of our approach by assessing it on robotic tasks in different scenarios within tabletop manipulation domains. Furthermore, our zero-shot method outperformed many state-of-the-art learning-based policies in several tasks. The code for our proposed approach is available at https://github.com/OpenGVLab/Instruct2Act, serving as a robust benchmark for high-level robotic instruction tasks with assorted modality inputs.