Instruction-Conditioned Motion Control for Robotic Arms: Language-to-Code Decomposition and Reinforcement Learning
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초록 발췌
Instruction-Conditioned Motion Control (ICMC) separates parameter specification, instruction generation, and code synthesis for language-driven robot control, making execution outcomes traceable to instructions and programs. We compare one-shot generation with ICMC under o1 and o4-mini on cube pick-and-place and letter-reshaping tasks for a UR5e arm in MuJoCo.
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