277 citations · 726 across the 23 of their papers we have counts for
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cs.RO2022★ 38 cited
Code as Policies: Language Model Programs for Embodied Control
Jacky Liang, Wenlong Huang, Fei Xia +5
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 LL…
cs.RO2022★ 208 cited
Inner Monologue: Embodied Reasoning through Planning with Language Models
Wenlong Huang, Fei Xia, Ted Xiao +14
Recent works have shown how the reasoning capabilities of Large Language Models (LLMs) can be applied to domains beyond natural language processing, such as planning and interactio…
cs.RO2022★ 1 cited
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation
Jacky Liang, Xianyi Cheng, Oliver Kroemer
Robots need to manipulate objects in constrained environments like shelves and cabinets when assisting humans in everyday settings like homes and offices. These constraints make ma…