How to Prompt Your Robot: A PromptBook for Manipulation Skills with Code as Policies
Montserrat Gonzalez Arenas,Ted Xiao,Sumeet Singh,Vidhi Jain,Allen Ren,Quan Vuong,Jake Varley,Alexander Herzog,Isabel Leal,Sean Kirmani,Mario Prats,Dorsa Sadigh,Vikas Sindhwani,Kanishka Rao,Jacky Liang,Andy Zeng,Montserrat Gonzalez Arenas,Ted Xiao,Sumeet Singh,Vidhi Jain,Allen Ren,Quan Vuong,Jake Varley,Alexander Herzog,Isabel Leal,Sean Kirmani,Mario Prats,Dorsa Sadigh,Vikas Sindhwani,Kanishka Rao,Jacky Liang,Andy Zeng
Large Language Models (LLMs) have demonstrated the ability to perform semantic reasoning, planning and write code for robotics tasks. However, most methods rely on pre-existing primitives (i.e. pick, open drawer) or similar examples of robot code alone, which heavily limits their scalability to new scenarios. We present PromptBook, a collection of different prompting paradigms to generate code for...
