series of positions sampled from a demonstration, and predicting future positions. We test two simple tasks
on a mobile robot manipulator: Table Sweeping and Whiteboard Drawing (both shown in Fig. 2).
In Table Sweeping, the goal is to continue a human-provided kinesthetic demonstration of sweeping a
portion of a table (see middle Fig. 2). We encode the demonstration as a series of end-effector poses at
approximately 3 Hz. Each demonstration lasts roughly 20-30 seconds. We represent the 7-dim end-effector
pose as a concatenation of Cartesian position and the quaternion, where each value is binned to an integer
between 0 and 100, and the dimensions are delimited by spaces. We collect 30 demonstrations that
demonstrate the sweeping motion. Note that demonstrations in this task are noisier and higher dimensional
than the stylized sinusoid functions above. For each demonstration, we construct a context to consist of the
LargeLanguageModelsasGeneralPatternMachines