Abstract: Some implementations related to using a large language model (LLM) in generating (and potentially refining) a plan for the execution of a long-horizon robotic task. Various implementations include processing, using the LLM, a free-form natural language instruction and textual feedback to generate LLM output. In many implementations, the free-form natural language instruction describes the robotic task. In additional or alternative implementations, the textual feedback can include task-specific feedback, passive scene description feedback, active scene description feedback, one or more additional or alternative types of environmental feedback, and/or combinations thereof. In some implementations, the system can select one or more robotic skills to perform based on the LLM output.