Code as Policies: Language Model Programs for Embodied Control
Jacky Liang,Wenlong Huang,Fei Xia,Peng Xu,Karol Hausman,Brian Ichter,Pete Florence,Andy Zeng,Jacky Liang,Wenlong Huang,Fei Xia,Peng Xu,Karol Hausman,Brian Ichter,Pete Florence,Andy Zeng
Large language models (LLMs) trained on code-completion have been shown to be capable of synthesizing simple Python programs from docstrings [1]. We find that these code-writing LLMs can be re-purposed to write robot policy code, given natural language commands. Specifically, policy code can express functions or feedback loops that process perception outputs (e.g., from object detectors [2], [3]) ...
