# Lifelong Robot Learning with Human Assisted Language Planners

arXiv: https://arxiv.org/abs/2309.14321 · HTML: https://mlsanity.com/paper/2309.14321/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- Builds on 35 of its 42 references that are in the map.
- First posted on arXiv 25 Sep 2023.

## Builds on (most cited first, 30 of 35)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [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)
- [Open-vocabulary Object Detection via Vision and Language Knowledge Distillation](https://mlsanity.com/paper/2104.13921/) (2021)
- [CLIPort: What and Where Pathways for Robotic Manipulation](https://mlsanity.com/paper/2109.12098/) (2021)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation](https://mlsanity.com/paper/2209.05451/) (2022)
- [BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning](https://mlsanity.com/paper/2202.02005/) (2022)
- [Is Conditional Generative Modeling all you need for Decision-Making?](https://mlsanity.com/paper/2211.15657/) (2022)
- [Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language](https://mlsanity.com/paper/2204.00598/) (2022)
- [Implicit Behavioral Cloning](https://mlsanity.com/paper/2109.00137/) (2021)
- [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)
- [ChatGPT for Robotics: Design Principles and Model Abilities](https://mlsanity.com/paper/2306.17582/) (2023)
- [Integrated Task and Motion Planning](https://mlsanity.com/paper/2010.01083/) (2020)
- [One-Shot Imitation Learning](https://mlsanity.com/paper/1703.07326/) (2017)
- [Text2Motion: From Natural Language Instructions to Feasible Plans](https://mlsanity.com/paper/2303.12153/) (2023)
- [Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes](https://mlsanity.com/paper/2103.14127/) (2021)

## Built on by (most cited first, 19 of 19)

- [Personal LLM Agents: Insights and Survey about the Capability, Efficiency and Security](https://mlsanity.com/paper/2401.05459/) (2024)
- [Agent AI: Surveying the Horizons of Multimodal Interaction](https://mlsanity.com/paper/2401.03568/) (2024)
- [Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Making](https://mlsanity.com/paper/2410.07166/) (2024)
- [Query2CAD: Generating CAD models using natural language queries](https://mlsanity.com/paper/2406.00144/) (2024)
- [Continual Learning for Generative AI: From LLMs to MLLMs and Beyond](https://mlsanity.com/paper/2506.13045/) (2025)
- [SPECI: Skill Prompts based Hierarchical Continual Imitation Learning for Robot Manipulation](https://mlsanity.com/paper/2504.15561/) (2025)
- [Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation](https://mlsanity.com/paper/2603.02623/) (2026)
- [Teaching Embodied Reinforcement Learning Agents: Informativeness and Diversity of Language Use](https://mlsanity.com/paper/2410.24218/) (2024)
- [TalkWithMachines: Enhancing Human-Robot Interaction for Interpretable Industrial Robotics Through Large/Vision Language Models](https://mlsanity.com/paper/2412.15462/) (2024)
- [OpenNav: Open-World Navigation with Multimodal Large Language Models](https://mlsanity.com/paper/2507.18033/) (2025)
- [Position Paper: Agent AI Towards a Holistic Intelligence](https://mlsanity.com/paper/2403.00833/) (2024)
- [GRAPPA: Generalizing and Adapting Robot Policies via Online Agentic Guidance](https://mlsanity.com/paper/2410.06473/) (2024)
- [Advances in Transformers for Robotic Applications: A Review](https://mlsanity.com/paper/2412.10599/) (2024)
- [Task-agnostic Lifelong Robot Learning with Retrieval-based Weighted Local Adaptation](https://mlsanity.com/paper/2410.02995/) (2024)
- [Prompt-responsive Object Retrieval with Memory-augmented Student-Teacher Learning](https://mlsanity.com/paper/2505.02232/) (2025)
- [CARoL: Context-aware Adaptation for Robot Learning](https://mlsanity.com/paper/2506.07006/) (2025)
- [Casper: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models](https://mlsanity.com/paper/2506.14727/) (2025)
- [LLM-Driven Self-Refinement for Embodied Drone Task Planning](https://mlsanity.com/paper/2508.15501/) (2025)
- [SkillComposer: Learning Reusable Skills for Natural-Language Robot Programming](https://mlsanity.com/paper/2608.14944/) (2026)

## Abstract (arXiv)

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.