1 Introduction

2 Preliminary  
2.1 Language Models in Robotics  
2.2 Large Language Model in Robotics  

3 Communication  
3.1 Language Understanding  
3.2 Language Generation  

4 Perception  
4.1 Sensing Modalities  
4.2 Sensing Behavior  

5 Planning  
5.1 Task Planning  
5.2 Task and Motion Planning  

6 Control  
6.1 Direct Approach  
6.2 Indirect Approach  

7 Prompt Guideline  
7.1 Conversation Prompt: Interactive Grounding  
7.2 Directive Prompt: Scene-Graph structuring  

8 Conclusion