Instruction-Conditioned Motion Control for Robotic Arms: Language-to-Code Decomposition and Reinforcement Learning
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. We then train an open-weight instruction policy by GRPO through a frozen code generator on cube placement onto two- and five-cube letter layouts, averaging the rewards of five programs per instruction. The logged positive-reward rate rose from 31.6% to 35.3% (253/800 to 282/800) between the first and last five training steps. A log ...
| Authors | Fan Huang, Dezhong Tong, Changyu Chen et al. |
|---|---|
| Primary category | cs.RO |
| Published | 14 October 2026 |
| Last updated at source | 14 October 2026 |
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