I will describe how I trained Google's 270M-parameter Gemma-3 language model to control a tracked robot with a robot arm in the MuJoCo environment, using natural-language commands from a human.

It can move freely around the map, go forward and backward, turn left and right, grab objects, and put them down.
https://dev.to/imperius_903049e65aa91ec5/how-i-loaded-a-compact-open-llm-into-a-robot-and-told-it-to-walk-and-grab-things-4h40