ChatGPT Empowered Long-Step Robot Control in Various Environments: A Case Application
Abstract
This paper demonstrates how OpenAI's ChatGPT can be used in a few-shot setting to convert natural language instructions into a sequence of executable robot actions. The paper proposes easy-to-customize input prompts for ChatGPT that meet common requirements in practical applications, such as easy integration with robot execution systems and applicability to various environments while minimizing the impact of ChatGPT's token limit. The prompts encourage ChatGPT to output a sequence of predefined robot actions, represent the operating environment in a formalized style, and infer the updated state of the operating environment. Experiments confirmed that the proposed prompts enable ChatGPT to act according to requirements in various environments, and users can adjust ChatGPT's output with natural language feedback for safe and robust operation. The proposed prompts and source code are open-source and publicly available at https://github.com/microsoft/ChatGPT-Robot-Manipulation-Prompts
Keywords
Cite
@article{arxiv.2304.03893,
title = {ChatGPT Empowered Long-Step Robot Control in Various Environments: A Case Application},
author = {Naoki Wake and Atsushi Kanehira and Kazuhiro Sasabuchi and Jun Takamatsu and Katsushi Ikeuchi},
journal= {arXiv preprint arXiv:2304.03893},
year = {2023}
}
Comments
21 figures, 7 tables. Published in IEEE Access (in press). Last updated August 29th, 2023