diff --git a/taskweaver/memory/experience.py b/taskweaver/memory/experience.py
index 78e9d78c..2e735a0a 100644
--- a/taskweaver/memory/experience.py
+++ b/taskweaver/memory/experience.py
@@ -1,5 +1,6 @@
 import json
 import os
+import warnings
 from dataclasses import dataclass
 from typing import List, Literal, Optional, Tuple
 
@@ -35,8 +36,8 @@ class ExperienceConfig(ModuleConfig):
     def _configure(self) -> None:
         self._set_name("experience")
 
-        self.session_history_dir = self._get_path(
-            "session_history_dir",
+        self.experience_dir = self._get_path(
+            "experience_dir",
             os.path.join(self.src.app_base_path, "experience"),
         )
         self.default_exp_prompt_path = self._get_path(
@@ -62,8 +63,7 @@ def __init__(
         self.llm_api = llm_api
         self.logger = logger
 
-        with open(self.config.default_exp_prompt_path, "r") as f:
-            self.default_prompt_template = f.read()
+        self.default_prompt_template = read_yaml(self.config.default_exp_prompt_path)["content"]
 
         self.experience_list: List[Experience] = []
 
@@ -81,6 +81,8 @@ def remove_id_fields(d):
                     remove_id_fields(item)
 
         def select_role(conv_data, target_role):
+            if target_role == "All":
+                return
             for round_data in conv_data:
                 for idx, post in enumerate(round_data["post_list"]):
                     if post["send_from"] != target_role and post["send_to"] != target_role:
@@ -96,9 +98,9 @@ def summarize_experience(
         self,
         session_id: str,
         prompt: Optional[str] = None,
-        target_role: Literal["Planner", "CodeInterpreter"] = "Planner",
+        target_role: Literal["Planner", "CodeInterpreter", "All"] = "Planner",
     ):
-        raw_exp_file_path = os.path.join(self.config.session_history_dir, f"raw_exp_{session_id}.yaml")
+        raw_exp_file_path = os.path.join(self.config.experience_dir, f"raw_exp_{session_id}.yaml")
         conversation = read_yaml(raw_exp_file_path)
 
         conversation = self._preprocess_conversation_data(conversation, target_role)
@@ -115,19 +117,20 @@ def summarize_experience(
     def summarize_experience_in_batch(
         self,
         prompt: Optional[str] = None,
-        target_role: Literal["Planner", "CodeInterpreter"] = "Planner",
+        target_role: Literal["Planner", "CodeInterpreter", "All"] = "Planner",
     ):
-        exp_files = os.listdir(self.config.session_history_dir)
+        exp_files = os.listdir(self.config.experience_dir)
         session_ids = [exp_file.split("_")[2].split(".")[0] for exp_file in exp_files if exp_file.startswith("raw_exp")]
 
         if len(session_ids) == 0:
-            raise ValueError("No experience found.")
+            warnings.warn("No experience found. Please type SAVE AS EXP in the chat window to save experience.")
+            return
 
         for session_id in session_ids:
             exp_file_name = f"exp_{session_id}.yaml"
             # if the experience file already exists, load it
-            if not self.config.refresh_experience and exp_file_name in os.listdir(self.config.session_history_dir):
-                exp_file_path = os.path.join(self.config.session_history_dir, exp_file_name)
+            if not self.config.refresh_experience and exp_file_name in os.listdir(self.config.experience_dir):
+                exp_file_path = os.path.join(self.config.experience_dir, exp_file_name)
                 experience = read_yaml(exp_file_path)
                 experience_obj = Experience(**experience)
                 self.experience_list.append(experience_obj)
@@ -139,7 +142,7 @@ def summarize_experience_in_batch(
                     experience_text=summarized_experience,
                     session_id=session_id,
                     raw_experience_path=os.path.join(
-                        self.config.session_history_dir,
+                        self.config.experience_dir,
                         f"raw_exp_{session_id}.yaml",
                     ),
                 )
@@ -153,7 +156,7 @@ def summarize_experience_in_batch(
         self.logger.info("Experience embeddings created. Embeddings number: {}".format(len(exp_embeddings)))
 
         for exp in self.experience_list:
-            experience_file_path = os.path.join(self.config.session_history_dir, f"exp_{exp.session_id}.yaml")
+            experience_file_path = os.path.join(self.config.experience_dir, f"exp_{exp.session_id}.yaml")
             write_yaml(experience_file_path, exp.to_dict())
         self.logger.info("Experience obj saved.")
 
@@ -185,14 +188,15 @@ def retrieve_experience(self, user_query: str) -> List[Tuple[Experience, float]]
         )
 
         selected_experiences = [(exp, sim) for exp, sim in experience_rank if sim >= self.config.retrieve_threshold]
-
+        self.logger.info(f"Retrieved {len(selected_experiences)} experiences.")
+        self.logger.info(f"Retrieved experiences: {[exp.session_id for exp, sim in selected_experiences]}")
         return selected_experiences
 
     def delete_experience(self, session_id: str):
         exp_file_name = f"exp_{session_id}.yaml"
-        if exp_file_name in os.listdir(self.config.session_history_dir):
-            os.remove(os.path.join(self.config.session_history_dir, exp_file_name))
-            os.remove(os.path.join(self.config.session_history_dir, f"raw_exp_{session_id}.yaml"))
+        if exp_file_name in os.listdir(self.config.experience_dir):
+            os.remove(os.path.join(self.config.experience_dir, exp_file_name))
+            os.remove(os.path.join(self.config.experience_dir, f"raw_exp_{session_id}.yaml"))
             self.logger.info(f"Experience {exp_file_name} deleted.")
         else:
             self.logger.info(f"Experience {exp_file_name} not found.")
diff --git a/taskweaver/planner/planner.py b/taskweaver/planner/planner.py
index fbe5819b..550a7e21 100644
--- a/taskweaver/planner/planner.py
+++ b/taskweaver/planner/planner.py
@@ -118,12 +118,13 @@ def __init__(
         self.round_compressor = round_compressor
         self.compression_prompt_template = read_yaml(self.config.compression_prompt_path)["content"]
 
-        self.experience_manager = experience_manager
-        self.experience_prompt_template = read_yaml(self.config.exp_prompt_path)["content"]
-        self.experience_manager.summarize_experience_in_batch(
-            prompt=self.experience_prompt_template,
-            target_role="Planner",
-        )
+        if self.config.use_experience:
+            self.experience_manager = experience_manager
+            self.experience_prompt_template = read_yaml(self.config.exp_prompt_path)["content"]
+            self.experience_manager.summarize_experience_in_batch(
+                prompt=self.experience_prompt_template,
+                target_role="All",
+            )
 
         self.logger.info("Planner initialized successfully")
 
@@ -189,7 +190,7 @@ def compose_prompt(
         rounds: List[Round],
         selected_experiences: Optional[List[Experience]] = None,
     ) -> List[ChatMessageType]:
-        if selected_experiences is not None:
+        if selected_experiences is not None and len(selected_experiences) != 0:
             self.experience_instruction = self.prompt_data["experience_instruction"].format(
                 experiences="\n===================".join([exp.experience_text for exp, sim in selected_experiences]),
             )
@@ -230,7 +231,7 @@ def reply(
         assert len(rounds) != 0, "No chat rounds found for planner"
 
         user_query = rounds[-1].user_query
-        if self.config.use_experience and self.experience_manager is not None:
+        if self.config.use_experience:
             selected_experiences = self.experience_manager.retrieve_experience(user_query)
         else:
             selected_experiences = None
diff --git a/taskweaver/planner/planner_exp_prompt.yaml b/taskweaver/planner/planner_exp_prompt.yaml
index 1fb0811b..b6dbe4fb 100644
--- a/taskweaver/planner/planner_exp_prompt.yaml
+++ b/taskweaver/planner/planner_exp_prompt.yaml
@@ -14,9 +14,9 @@ content: |-
   # About Output
   The output should be formatted as below:
     - User Query: The user query/task/request for the given conversation.
-    - Best Practice: What's the best plan to fulfill the user query? What additional information or guidance does Users provide to help the Planner make the correct and clear plan? How does Planner instruct CodeInterpreter to execute the plan?
-    - Mistakes to Avoid: What's the mistakes should be avoided in the future planning.
+    - Best Practice: How does Planner make the correct and clear plan? What additional information or guidance does Users provide to help the Planner make the correct and clear plan? How does Planner instruct CodeInterpreter to execute the plan?
+    - Mistakes to Avoid: What's the mistakes should be avoided in the future planning? Is there any additional information or guidance that should be provided by Planner to make CodeInterpreter generate the correct code in one time?
     - Critical Information: If there are critical information for planning, please include them in the output.
   
-  - DO NOT add the specific results of this conversation in the output because the experience and lessons learned should be generalized to other conversations.
+  - DO NOT add the results of this conversation in the output.
   - Generate only one experience from the given conversation.
diff --git a/taskweaver/planner/planner_prompt.yaml b/taskweaver/planner/planner_prompt.yaml
index 8d174b05..33413873 100644
--- a/taskweaver/planner/planner_prompt.yaml
+++ b/taskweaver/planner/planner_prompt.yaml
@@ -132,3 +132,4 @@ experience_instruction: |-
   # Experience And Lessons
   Before starting planning, please refer to the following experiences and lessons learned from the previous tasks:
   {experiences}
+  You need to borrow the experience and lessons learned from the previous tasks in your current plan.
diff --git a/tests/unit_tests/data/experience/exp_test-session-1.yaml b/tests/unit_tests/data/experience/exp_test-session-1.yaml
index 2bb79b8b..12f6e26a 100644
--- a/tests/unit_tests/data/experience/exp_test-session-1.yaml
+++ b/tests/unit_tests/data/experience/exp_test-session-1.yaml
@@ -1,782 +1,781 @@
 embedding:
-- 0.06968636065721512
-- 0.0035584019497036934
-- -0.029782995581626892
-- 0.041603099554777145
-- 0.036149874329566956
-- 0.056738343089818954
-- -0.00777234835550189
-- 0.010120437480509281
-- 0.08407051861286163
-- 0.01335087139159441
-- -0.02866216003894806
-- -0.02252962253987789
-- 0.0087271798402071
-- 0.011015338823199272
-- 0.0035253483802080154
-- 0.018167980015277863
-- 0.03789006173610687
-- 0.0004273157974239439
-- 0.027248432859778404
-- 0.03237872198224068
-- -0.04502443969249725
-- -0.023509439080953598
-- 0.023521820083260536
-- -0.03802222013473511
-- 0.01726372167468071
-- 0.06099449843168259
-- -0.06000641733407974
-- 0.043908510357141495
-- 0.029982002452015877
-- -0.07327941805124283
-- 0.0296042300760746
-- -0.020869432017207146
-- 0.010985923931002617
-- 0.013461312279105186
-- 2.052540821750881e-06
-- -0.029220690950751305
-- 0.006385882385075092
-- -0.026993203908205032
-- -0.012748177163302898
-- -0.08193528652191162
-- 0.02139114961028099
-- -0.014742590487003326
-- 0.0008213926339522004
-- -0.03388721123337746
-- -0.018994074314832687
-- 0.02023528702557087
-- -0.02408204972743988
-- 0.015491955913603306
-- 0.07810410112142563
-- 0.055887673050165176
-- -0.004718763753771782
-- -0.033266790211200714
-- -0.04573433846235275
-- -0.005894071888178587
-- 0.021575262770056725
-- -0.015374758280813694
-- 0.0829915702342987
-- 0.07025040686130524
-- 0.012435437180101871
-- -0.06492713838815689
-- 0.023315822705626488
-- -0.00979361031204462
-- -0.011008956469595432
-- 0.03828459233045578
-- -0.004946231842041016
-- 0.0460369847714901
-- -0.03845212236046791
-- -0.03256481513381004
-- -0.031042790040373802
-- 0.06044149026274681
-- 0.038396719843149185
-- -0.004425309598445892
-- 0.02778105065226555
-- -0.0342034213244915
-- 0.0049680988304317
-- -0.05114331468939781
-- 0.0026143481954932213
-- 0.008629764430224895
-- 0.0034357972908765078
-- 0.012566940858960152
-- 0.029441064223647118
-- 0.057245515286922455
-- -0.05297474563121796
-- 0.060199074447155
-- -0.03307289257645607
-- -0.012082376517355442
-- -0.09009159356355667
-- -0.04810577630996704
-- 0.03682956472039223
-- 0.015087057836353779
-- 0.04129359871149063
-- 0.017470574006438255
-- 0.010780909098684788
-- -0.011323336511850357
-- -0.009835511445999146
-- -0.013765382580459118
-- 0.03374214470386505
-- -0.05306122079491615
-- -0.010697487741708755
-- -0.01255045272409916
-- 0.02574785239994526
-- -0.054819848388433456
-- 0.06247587502002716
-- 0.05932128056883812
-- 0.0858960896730423
-- -0.023161783814430237
-- -0.0363796129822731
-- 0.02639707736670971
-- 0.029832424595952034
-- 0.007561940234154463
-- 0.048817843198776245
-- 0.013349617831408978
-- -0.055588167160749435
-- -0.035790249705314636
-- 0.02591705694794655
-- 0.06211789324879646
-- 0.036154404282569885
-- 0.012781144119799137
-- -0.02250046469271183
-- 0.011577342636883259
-- 0.0010195835493505
-- 0.020130407065153122
-- -0.018598372116684914
-- 0.08060188591480255
-- -0.013802552595734596
-- -0.00015772353799548
-- 0.030181968584656715
-- 0.04264680668711662
-- 0.011172382161021233
-- -0.037538424134254456
-- 0.03768012672662735
-- 0.006009541917592287
-- 0.013142046518623829
-- 0.002198724076151848
-- 0.015086953528225422
-- -0.0077251167967915535
-- 0.03318479284644127
-- -0.010221501812338829
-- -0.02137434110045433
-- -0.029331695288419724
-- 0.017145967110991478
-- -0.06106293573975563
-- -0.0311033483594656
-- 0.021091461181640625
-- -0.000946756626944989
-- 0.018710175529122353
-- 0.027312003076076508
-- 0.007958116941154003
-- -0.017522744834423065
-- 0.015727099031209946
-- -0.0359455868601799
-- -0.010579301975667477
-- -0.01582654006779194
-- 0.019770974293351173
-- -0.022412290796637535
-- 0.009978312999010086
-- -0.07433848083019257
-- -0.08562280982732773
-- 0.0035359258763492107
-- 0.043104201555252075
-- -0.0507751889526844
-- -0.0055207982659339905
-- 0.025109829381108284
-- -0.046601299196481705
-- 0.014594146981835365
-- 0.010599134489893913
-- -0.04324189946055412
-- 0.09460709989070892
-- -0.05282089114189148
-- 0.026453953236341476
-- -0.06175629422068596
-- 0.01958875171840191
-- 0.03853093460202217
-- 0.01917719468474388
-- -0.047572795301675797
-- 0.03152254968881607
-- -0.002737560775130987
-- -0.037733059376478195
-- -0.018192440271377563
-- 0.06262634694576263
-- 0.029794922098517418
-- 0.028196729719638824
-- -0.02936849556863308
-- 0.021921420469880104
-- 0.04847901687026024
-- -0.011256925761699677
-- -0.03443778678774834
-- -0.026915986090898514
-- 0.03351748362183571
-- -0.05098547786474228
-- 0.02912963554263115
-- 0.011568284593522549
-- -0.0008645464549772441
-- 0.012168160639703274
-- -0.01494962815195322
-- -0.012611287645995617
-- -0.0018587084487080574
-- -0.14029520750045776
-- -0.010265112854540348
-- -0.015847092494368553
-- 0.011092371307313442
-- -0.01861189678311348
-- 0.006890040822327137
-- 0.032952990382909775
-- -0.00956367701292038
-- 0.03799157962203026
-- 0.02510431595146656
-- -0.00836135819554329
-- 0.04113321378827095
-- -0.11217489093542099
-- 0.03275037556886673
-- -0.01921042613685131
-- -0.04235114902257919
-- -0.011682183481752872
-- -0.012209895998239517
-- 0.047137241810560226
-- -0.034298352897167206
-- -0.017296044155955315
-- 0.01528106164187193
-- -0.0034108231775462627
-- -0.0074325748719275
-- -0.003688373137265444
-- 0.012092024087905884
-- -0.02658849209547043
-- -0.015558134764432907
-- 0.009763304144144058
-- 0.0006760710966773331
-- 0.01657467521727085
-- 0.03873540833592415
-- -0.007124380674213171
-- -0.021919695660471916
-- -0.013825185596942902
-- 0.030542105436325073
-- 0.07653919607400894
-- 0.039860039949417114
-- 0.006186297163367271
-- -0.002262324094772339
-- -0.00011923098645638674
-- -0.06598544120788574
-- 0.024506499990820885
-- -0.04024015739560127
-- 0.02459339238703251
-- 0.020003216341137886
-- 0.024780768901109695
-- -0.06277304142713547
-- 0.022686123847961426
-- -0.054027192294597626
-- -0.03737024590373039
-- -0.018576648086309433
-- 0.035988226532936096
-- 0.009179117158055305
-- 0.005551956593990326
-- 0.027089446783065796
-- 0.010231937281787395
-- 0.0017818743363022804
-- 0.08671408146619797
-- -0.015401463955640793
-- 0.01894381456077099
-- -0.0655355229973793
-- 0.027709495276212692
-- 0.04277766868472099
-- -0.0064445133320987225
-- 0.016320453956723213
-- -0.026047125458717346
-- 0.03726194053888321
-- -0.030108535662293434
-- 0.02237524464726448
-- 0.005834909155964851
-- -0.03141741082072258
-- 0.009842596016824245
-- -0.02309553138911724
-- -0.05266411975026131
-- -0.03506080433726311
-- -0.05641553923487663
-- -0.021888935938477516
-- -0.02317279577255249
-- -0.0371188186109066
-- 0.01771051064133644
-- -0.025800611823797226
-- 0.04909993335604668
-- 0.06188579648733139
-- 0.0005287124076858163
-- 0.02510947920382023
-- 0.025806941092014313
-- -0.022232450544834137
-- 0.0035537120420485735
-- 0.05301205813884735
-- -0.03834114223718643
-- 0.04219977930188179
-- -0.016707897186279297
-- -0.0034174888860434294
-- -0.006504942197352648
-- 0.012558182701468468
-- 0.01440529152750969
-- -0.035656608641147614
-- -0.0062172673642635345
-- -0.005152472760528326
-- -0.0005160653381608427
-- 0.020366813987493515
-- 0.01786903291940689
-- 0.010921510867774487
-- 0.007089313119649887
-- 0.01090655755251646
-- 0.01609114184975624
-- 0.016798466444015503
-- 0.04660516232252121
-- 0.04039949178695679
-- -0.009278351441025734
-- 0.033493541181087494
-- -0.02157723344862461
-- 0.08303370326757431
-- -0.02945246547460556
-- 0.010377009399235249
-- 0.056960344314575195
-- -0.014677516184747219
-- -0.03508171811699867
-- -0.047954730689525604
-- -0.01711127907037735
-- -0.0343683585524559
-- 0.017029576003551483
-- 0.027100371196866035
-- 0.03717589005827904
-- 0.03935510292649269
-- 0.009351822547614574
-- -0.0017699971795082092
-- -0.014301271177828312
-- -0.018999310210347176
-- 0.0033744890242815018
-- -0.029409252107143402
-- 0.028464628383517265
-- -0.0007916944450698793
-- 0.0023415102623403072
-- -0.023182932287454605
-- 0.01671687513589859
-- -0.006994813214987516
-- -0.020758533850312233
-- -0.017960872501134872
-- -0.052584655582904816
-- 0.04574800282716751
-- 0.022912204265594482
-- -0.013278702273964882
-- 0.012053740210831165
-- -0.019709622487425804
-- 0.011470944620668888
-- -0.020275328308343887
-- -0.049992404878139496
-- -0.017079874873161316
-- 0.013880309648811817
-- -0.0007012097048573196
-- -0.05526130646467209
-- 0.04660797864198685
-- 0.006151644978672266
-- -0.007151837460696697
-- -0.04250326380133629
-- 0.010241643525660038
-- 0.03683393448591232
-- -0.06090160459280014
-- 0.030303431674838066
-- -0.029151592403650284
-- -0.008744942024350166
-- 0.0031540023628622293
-- 0.045797206461429596
-- 0.03264165297150612
-- 0.0333406887948513
-- 0.031785305589437485
-- 0.04471437260508537
-- -0.03606264665722847
-- 0.018925704061985016
-- 0.022196810692548752
-- 0.0035334185231477022
-- -0.058619871735572815
-- -0.041231926530599594
-- 0.04312504827976227
-- -0.014914060942828655
-- 0.02274545468389988
-- 0.08701668679714203
-- -0.012602807022631168
-- 0.010130640119314194
-- -0.08570708334445953
-- -0.006909705698490143
-- 0.04496573284268379
-- -0.021318312734365463
-- 0.028262486681342125
-- 0.02577592432498932
-- 0.04732345789670944
-- -0.032904691994190216
-- -0.02517671138048172
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 embedding_model: all-mpnet-base-v2
-experience_text: "User Query: Show top 3 data in ./demo_data.csv\n\nBest Practice:\
-  \ \n- Always check if the file exists before attempting to read it.\n- Ask the user\
-  \ to provide the correct file path if the file is not found.\n- Load the data using\
-  \ pandas and display the top 3 rows using the head() function.\n\nMistakes to Avoid:\n\
-  - Do not attempt to read a file without checking if it exists first, as this can\
-  \ lead to errors.\n\nCritical Information:\n- Use the following code snippet to\
-  \ check if the file exists, load the data, and display the top 3 rows:\n```python\n\
-  import os\nimport pandas as pd\n\nfile_path = \"file_path_here\"\n\nif os.path.exists(file_path):\n\
-  \    data = pd.read_csv(file_path)\n    top_3_rows = data.head(3)\n    top_3_rows\n\
-  else:\n    print(\"File not found: {}\".format(file_path))\n```"
+experience_text: "User Query: show top 3 data in ./demo_data.csv\n\nBest Practice:\
+  \ When the user provides an incorrect file path, ask the user to check the file\
+  \ path and try again. When the correct file path is provided, load the data and\
+  \ display the top 3 rows.\n\nMistakes to Avoid: \n1. Do not assume the file path\
+  \ is correct. Check if the file exists before attempting to read it.\n2. Ensure\
+  \ that the output is generated and displayed to the user when the code execution\
+  \ is successful.\n\nCritical Information:\n1. Use os.path.exists(file_path) to check\
+  \ if the file exists before attempting to read it.\n2. Use pandas to read the CSV\
+  \ file and display the top 3 rows using data.head(3)."
 raw_experience_path: D:\python_project\TaskWeaver\tests\unit_tests\data\experience\raw_exp_test-session-1.yaml
 session_id: test-session-1
diff --git a/tests/unit_tests/test_experience.py b/tests/unit_tests/test_experience.py
index 1d797d5d..b0132ec4 100644
--- a/tests/unit_tests/test_experience.py
+++ b/tests/unit_tests/test_experience.py
@@ -19,7 +19,7 @@ def test_experience_generation():
             # please refer to the https://microsoft.github.io/TaskWeaver/docs/llms
             "llm.embedding_api_type": "sentence_transformer",
             "llm.embedding_model": "all-mpnet-base-v2",
-            "experience.session_history_dir": os.path.join(
+            "experience.experience_dir": os.path.join(
                 os.path.dirname(os.path.abspath(__file__)),
                 "data/experience",
             ),
@@ -69,7 +69,7 @@ def test_experience_retrieval():
         config={
             "llm.embedding_api_type": "sentence_transformer",
             "llm.embedding_model": "all-mpnet-base-v2",
-            "experience.session_history_dir": os.path.join(
+            "experience.experience_dir": os.path.join(
                 os.path.dirname(os.path.abspath(__file__)),
                 "data/experience",
             ),