# Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition

arXiv: https://arxiv.org/abs/2307.14535 · HTML: https://mlsanity.com/paper/2307.14535/

## Key facts

- Cited by 159 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Jul 2023.

## Built on by (most cited first, 30 of 159)

- [Octo: An Open-Source Generalist Robot Policy](https://mlsanity.com/paper/2405.12213/) (2024)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
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- [RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots](https://mlsanity.com/paper/2406.02523/) (2024)
- [Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation](https://mlsanity.com/paper/2312.13139/) (2023)
- [MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations](https://mlsanity.com/paper/2310.17596/) (2023)
- [GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation](https://mlsanity.com/paper/2410.06158/) (2024)
- [A Survey on Knowledge Distillation of Large Language Models](https://mlsanity.com/paper/2402.13116/) (2024)
- [A Survey on Vision-Language-Action Models for Embodied AI](https://mlsanity.com/paper/2405.14093/) (2024)
- [RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation](https://mlsanity.com/paper/2311.01455/) (2023)
- [DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control](https://mlsanity.com/paper/2502.05855/) (2025)
- [DreamGen: Unlocking Generalization in Robot Learning through Video World Models](https://mlsanity.com/paper/2505.12705/) (2025)
- [Agent AI: Surveying the Horizons of Multimodal Interaction](https://mlsanity.com/paper/2401.03568/) (2024)
- [Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals](https://mlsanity.com/paper/2407.05996/) (2024)
- [GenSim: Generating Robotic Simulation Tasks via Large Language Models](https://mlsanity.com/paper/2310.01361/) (2023)
- [3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations](https://mlsanity.com/paper/2403.03954/) (2024)
- [DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning](https://mlsanity.com/paper/2410.24185/) (2024)
- [Avalon's Game of Thoughts: Battle Against Deception through Recursive Contemplation](https://mlsanity.com/paper/2310.01320/) (2023)
- [Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis](https://mlsanity.com/paper/2312.08782/) (2023)
- [Diffusion Models for Reinforcement Learning: A Survey](https://mlsanity.com/paper/2311.01223/) (2023)
- [Large Language Models for Robotics: Opportunities, Challenges, and Perspectives](https://mlsanity.com/paper/2401.04334/) (2024)
- [Large Language Models as Generalizable Policies for Embodied Tasks](https://mlsanity.com/paper/2310.17722/) (2023)
- [General Flow as Foundation Affordance for Scalable Robot Learning](https://mlsanity.com/paper/2401.11439/) (2024)
- [DrEureka: Language Model Guided Sim-To-Real Transfer](https://mlsanity.com/paper/2406.01967/) (2024)
- [Manipulate-Anything: Automating Real-World Robots using Vision-Language Models](https://mlsanity.com/paper/2406.18915/) (2024)
- [Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action Policy](https://mlsanity.com/paper/2503.19757/) (2025)
- [In-Context Imitation Learning via Next-Token Prediction](https://mlsanity.com/paper/2408.15980/) (2024)
- [Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey](https://mlsanity.com/paper/2508.13073/) (2025)
- [Gen2Sim: Scaling up Robot Learning in Simulation with Generative Models](https://mlsanity.com/paper/2310.18308/) (2023)

## Abstract (arXiv)

We present a framework for robot skill acquisition, which 1) efficiently scale up data generation of language-labelled robot data and 2) effectively distills this data down into a robust multi-task language-conditioned visuo-motor policy. For (1), we use a large language model (LLM) to guide high-level planning, and sampling-based robot planners (e.g. motion or grasp samplers) for generating diverse and rich manipulation trajectories. To robustify this data-collection process, the LLM also infers a code-snippet for the success condition of each task, simultaneously enabling the data-collection process to detect failure and retry as well as the automatic labeling of trajectories with success/failure. For (2), we extend the diffusion policy single-task behavior-cloning approach to multi-task settings with language conditioning. Finally, we propose a new multi-task benchmark with 18 tasks across five domains to test long-horizon behavior, common-sense reasoning, tool-use, and intuitive physics. We find that our distilled policy successfully learned the robust retrying behavior in its data collection procedure, while improving absolute success rates by 33.2% on average across five domains. Code, data, and additional qualitative results are available on https://www.cs.columbia.edu/~huy/scalingup/.