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The potential for pre-trained large language models (LLMs) to use natural language feedback at inference time has been an exciting recent development. We build upon this observation by formalizing an algorithm for learning from natural language feedback at training time instead, which we call Imitation learning from Language Feedback (ILF). ILF requires only a small amount of human-written feedback during training and does not require the same feedback at test time, making it both user-friendly and sample-efficient. We further show that ILF can be seen as a form of minimizing the KL divergence to the target distribution and demonstrate proof-of-concepts on text summarization and program synthesis tasks. For code generation, ILF improves a Codegen-Mono 6.1B model’s pass@1 rate from 22% to 36% on the MBPP benchmark, outperforming both fine-tuning on MBPP and on human- written repaired programs. For summarization, we show that ILF can be combined with learning from human preferences to improve a GPT-3 model’s summarization performance to be comparable to human quality, outperforming fine-tuning on human-written summaries. Overall, our results suggest that ILF is both more effective and sample-efficient than training exclusively on demonstrations for improving an LLM’s performance on a variety of tasks.