Physical Simulation‐Based Correction of LLM‐Generated Tool‐Using Primitives

ABSTRACT Large language models can translate natural language into robot code but often produce physically infeasible behaviours, particularly in tool‐use tasks requiring precise contact reasoning. We propose a closed‐loop framework that integrates code generation, physical simulation, and iterative correction to ensure physically valid tool‐use primitives. Failures such as collisions and misalignments are detected via simulation feedback and corrected by targeted parameter updates while preserv