This paper demonstrates how OpenAI's ChatGPT can be used in a few-shot setting to convert natural language instructions into an executable robot action sequence. 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

翻译：本文展示了如何利用OpenAI的ChatGPT，在少样本场景下将自然语言指令转换为可执行的机器人动作序列。本文提出了易于定制的ChatGPT输入提示词，满足实际应用中的常见需求，例如易于集成到机器人执行系统、适用于多种环境，同时最小化ChatGPT令牌限制的影响。该提示词引导ChatGPT输出预定义的机器人动作序列，以形式化风格表示操作环境，并推断操作环境的更新状态。实验证实，所提出的提示词能使ChatGPT在各种环境中按需求执行动作，用户可通过自然语言反馈调整ChatGPT的输出，以实现安全鲁棒的操作。所提出的提示词及源代码已开源，公开访问地址为https://github.com/microsoft/ChatGPT-Robot-Manipulation-Prompts