{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,12]],"date-time":"2026-04-12T03:28:50Z","timestamp":1775964530470,"version":"3.50.1"},"reference-count":60,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,5,29]]},"DOI":"10.1109\/icra48891.2023.10160591","type":"proceedings-article","created":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T17:20:56Z","timestamp":1688491256000},"page":"9493-9500","source":"Crossref","is-referenced-by-count":490,"title":["Code as Policies: Language Model Programs for Embodied Control"],"prefix":"10.1109","author":[{"given":"Jacky","family":"Liang","sequence":"first","affiliation":[]},{"given":"Wenlong","family":"Huang","sequence":"additional","affiliation":[]},{"given":"Fei","family":"Xia","sequence":"additional","affiliation":[]},{"given":"Peng","family":"Xu","sequence":"additional","affiliation":[]},{"given":"Karol","family":"Hausman","sequence":"additional","affiliation":[]},{"given":"Brian","family":"Ichter","sequence":"additional","affiliation":[]},{"given":"Pete","family":"Florence","sequence":"additional","affiliation":[]},{"given":"Andy","family":"Zeng","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref57","author":"wu","year":"2021","journal-title":"Recursively Summarizing Books with Human Feedback"},{"key":"ref13","author":"zhang","year":"2022","journal-title":"Opt Open pre-trained transformer language models"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3196164"},{"key":"ref12","article-title":"Language models are few-shot learners","author":"brown","year":"2020","journal-title":"NeurIPS"},{"key":"ref59","article-title":"Xirl: Cross-embodiment inverse reinforcement learning","author":"zakka","year":"2022","journal-title":"CoRL"},{"key":"ref15","author":"kojima","year":"2022","journal-title":"Large language models are zero-shot reasoners"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1145\/3520312.3534862"},{"key":"ref14","author":"huang","year":"2022","journal-title":"Language models as zero-shot planners Extracting actionable knowledge for embodied agents"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811931"},{"key":"ref52","article-title":"Composing pick-and-place tasks by grounding language","author":"mees","year":"2020","journal-title":"ISER"},{"key":"ref55","author":"bucker","year":"2022","journal-title":"Reshaping robot trajectories using natural language commands A study of multi-modal data alignment using transformers"},{"key":"ref11","author":"chowdhery","year":"2022","journal-title":"Palm Scaling language modeling with pathways"},{"key":"ref54","article-title":"Sornet: Spatial object-centric representations for sequential manipulation","author":"yuan","year":"2022","journal-title":"CoRL"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3180108"},{"key":"ref17","author":"ahn","year":"2022","journal-title":"Do as i can not as i say Grounding language in robotic affordances"},{"key":"ref16","author":"zeng","year":"2022","journal-title":"Socratic models Composing zero-shot multimodal reasoning with language"},{"key":"ref19","article-title":"Implicit behavioral cloning","author":"florence","year":"2022","journal-title":"CoRL"},{"key":"ref18","author":"huang","year":"2022","journal-title":"Inner monologue Embodied reasoning through planning with language models"},{"key":"ref51","article-title":"Learning to synthesize programs as interpretable and generalizable policies","author":"trivedi","year":"2021","journal-title":"NeurIPS"},{"key":"ref50","article-title":"Learning abstract structure for drawing by efficient motor program induction","author":"tian","year":"2020","journal-title":"NeurIPS"},{"key":"ref46","author":"zhou","year":"2022","journal-title":"Least-to-most prompting enables complex reasoning in large language models"},{"key":"ref45","author":"cobbe","year":"2021","journal-title":"Training verifiers to solve math word problems"},{"key":"ref48","author":"austin","year":"2021","journal-title":"Program synthesis with large language models"},{"key":"ref47","author":"wei","year":"2022","journal-title":"Chain of thought prompting elicits reasoning in large language models"},{"key":"ref42","author":"akakzia","year":"2020","journal-title":"Grounding language to autonomously-acquired skills via goal generation"},{"key":"ref41","author":"misra","year":"2017","journal-title":"Mapping instructions and visual observations to actions with reinforcement learning"},{"key":"ref44","author":"lewkowycz","year":"2022","journal-title":"Solving quantitative reasoning problems with language models"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.2123433119"},{"key":"ref49","author":"ellis","year":"2020","journal-title":"Dreamcoder Growing generalizable interpretable knowledge with wake-sleep bayesian program learning"},{"key":"ref8","author":"lynch","year":"2020","journal-title":"Language conditioned imitation learning over unstructured data"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1162\/tacl_a_00209"},{"key":"ref9","article-title":"Bc-z: Zero-shot task generalization with robotic imitation learning","author":"jang","year":"2022","journal-title":"CoRL"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-101119-071628"},{"key":"ref3","author":"gu","year":"2021","journal-title":"Open-vocabulary object detection via vision and language knowledge distillation"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152776"},{"key":"ref5","article-title":"Procedures as a representation for data in a computer program for understanding natural language","author":"winograd","year":"1971","journal-title":"MIT Project MAC"},{"key":"ref40","article-title":"Self-educated language agent with hindsight experience replay for instruction following","author":"cideron","year":"2019","journal-title":"DeepMind"},{"key":"ref35","author":"sharma","year":"2022","journal-title":"Correcting robot plans with natural language feedback"},{"key":"ref34","author":"andreas","year":"2017","journal-title":"Learning with latent language"},{"key":"ref37","article-title":"Language-conditioned imitation learning for robot manipulation tasks","author":"stepputtis","year":"2020","journal-title":"NeurIPS"},{"key":"ref36","article-title":"Cliport: What and where pathways for robotic manipulation","author":"shridhar","year":"2021","journal-title":"CoRL"},{"key":"ref31","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-319-00065-7_28","article-title":"Learning to parse natural language commands to a robot control system","author":"matuszek","year":"2013","journal-title":"Experimental Robotics"},{"key":"ref30","author":"shah","year":"2022","journal-title":"Lm-nav Robotic navigation with large pre-trained models of language vision and action"},{"key":"ref33","article-title":"Learning language-conditioned robot behavior from offline data and crowd-sourced annotation","author":"nair","year":"2022","journal-title":"CoRL"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1.11485"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00180"},{"key":"ref1","author":"chen","year":"2021","journal-title":"Evaluating large language models trained on code"},{"key":"ref39","author":"goyal","year":"2020","journal-title":"Pixl2r Guiding reinforcement learning using natural language by mapping pixels to rewards"},{"key":"ref38","article-title":"Language as an abstraction for hierarchical deep reinforcement learning","author":"jiang","year":"2019","journal-title":"NeurIPS"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_72"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1.11674"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2019\/880"},{"key":"ref25","article-title":"Toward understanding natural language directions","author":"kollar","year":"2010","journal-title":"HRI"},{"key":"ref20","article-title":"Learning visual affordances for robotic manipulation","author":"zeng","year":"2019","journal-title":"PhD Dissertation Princeton University"},{"key":"ref22","author":"ouyang","year":"2022","journal-title":"Training language models to follow instructions with human feedback"},{"key":"ref21","article-title":"Scalable deep reinforcement learning for vision-based robotic manipulation","author":"kalashnikov","year":"2018","journal-title":"CoRL"},{"key":"ref28","article-title":"Learning to interpret natural language commands through human-robot dialog","author":"thomason","year":"2015","journal-title":"IJCAI"},{"key":"ref27","article-title":"Walk the talk: Connecting language, knowledge, and action in route instructions","author":"macmahon","year":"2006","journal-title":"MAI"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v25i1.7979"},{"key":"ref60","author":"ganapathi","year":"2022","journal-title":"Implicit kinematic policies Unifying joint and cartesian action spaces in end-to-end robot learning"}],"event":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","location":"London, United Kingdom","start":{"date-parts":[[2023,5,29]]},"end":{"date-parts":[[2023,6,2]]}},"container-title":["2023 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10160211\/10160212\/10160591.pdf?arnumber=10160591","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T17:32:22Z","timestamp":1690219942000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10160591\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,29]]},"references-count":60,"URL":"https:\/\/doi.org\/10.1109\/icra48891.2023.10160591","relation":{},"subject":[],"published":{"date-parts":[[2023,5,29]]}}}