# ARO: Large Language Model Supervised Robotics Text2Skill Autonomous Learning

arXiv: https://arxiv.org/abs/2403.15834 · HTML: https://mlsanity.com/paper/2403.15834/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 13 of its 15 references that are in the map.
- First posted on arXiv 23 Mar 2024.

## Builds on (most cited first, 13 of 13)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Reflexion: Language Agents with Verbal Reinforcement Learning](https://mlsanity.com/paper/2303.11366/) (2023)
- [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)
- [OpenAI Gym](https://mlsanity.com/paper/1606.01540/) (2016)
- [Soft Actor-Critic Algorithms and Applications](https://mlsanity.com/paper/1812.05905/) (2018)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [Eureka: Human-Level Reward Design via Coding Large Language Models](https://mlsanity.com/paper/2310.12931/) (2023)
- [Language to Rewards for Robotic Skill Synthesis](https://mlsanity.com/paper/2306.08647/) (2023)
- [RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation](https://mlsanity.com/paper/2311.01455/) (2023)
- [Soft Actor-Critic for Discrete Action Settings](https://mlsanity.com/paper/1910.07207/) (2019)
- [Text2Reward: Reward Shaping with Language Models for Reinforcement Learning](https://mlsanity.com/paper/2309.11489/) (2023)
- [Self-Refined Large Language Model as Automated Reward Function Designer for Deep Reinforcement Learning in Robotics](https://mlsanity.com/paper/2309.06687/) (2023)

## Abstract (arXiv)

Robotics learning highly relies on human expertise and efforts, such as demonstrations, design of reward functions in reinforcement learning, performance evaluation using human feedback, etc. However, reliance on human assistance can lead to expensive learning costs and make skill learning difficult to scale. In this work, we introduce the Large Language Model Supervised Robotics Text2Skill Autonomous Learning (ARO) framework, which aims to replace human participation in the robot skill learning process with large-scale language models that incorporate reward function design and performance evaluation. We provide evidence that our approach enables fully autonomous robot skill learning, capable of completing partial tasks without human intervention. Furthermore, we also analyze the limitations of this approach in task understanding and optimization stability.