{"id":"https://openalex.org/W4386320380","doi":"https://doi.org/10.1109/access.2023.3310935","title":"ChatGPT Empowered Long-Step Robot Control in Various Environments: A Case Application","display_name":"ChatGPT Empowered Long-Step Robot Control in Various Environments: A Case Application","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4386320380","doi":"https://doi.org/10.1109/access.2023.3310935"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3310935","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3310935","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10235949.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10235949.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087791577","display_name":"Naoki Wake","orcid":"https://orcid.org/0000-0001-8278-2373"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naoki Wake","raw_affiliation_strings":["Applied Robotics Research, Microsoft, Redmond, WA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8278-2373","affiliations":[{"raw_affiliation_string":"Applied Robotics Research, Microsoft, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011238975","display_name":"Atsushi Kanehira","orcid":null},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Atsushi Kanehira","raw_affiliation_strings":["Applied Robotics Research, Microsoft, Redmond, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied Robotics Research, Microsoft, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035650290","display_name":"Kazuhiro Sasabuchi","orcid":"https://orcid.org/0000-0002-5408-3089"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kazuhiro Sasabuchi","raw_affiliation_strings":["Applied Robotics Research, Microsoft, Redmond, WA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5408-3089","affiliations":[{"raw_affiliation_string":"Applied Robotics Research, Microsoft, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085140","display_name":"Jun Takamatsu","orcid":"https://orcid.org/0000-0001-7457-2878"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Takamatsu","raw_affiliation_strings":["Applied Robotics Research, Microsoft, Redmond, WA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7457-2878","affiliations":[{"raw_affiliation_string":"Applied Robotics Research, Microsoft, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253","https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016258462","display_name":"Katsushi Ikeuchi","orcid":"https://orcid.org/0000-0001-9758-9357"},"institutions":[{"id":"https://openalex.org/I1290206253","display_name":"Microsoft (United States)","ror":"https://ror.org/00d0nc645","country_code":"US","type":"company","lineage":["https://openalex.org/I1290206253"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katsushi Ikeuchi","raw_affiliation_strings":["Applied Robotics Research, Microsoft, Redmond, WA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9758-9357","affiliations":[{"raw_affiliation_string":"Applied Robotics Research, Microsoft, Redmond, WA, USA","institution_ids":["https://openalex.org/I1290206253","https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":10.8115,"has_fulltext":true,"cited_by_count":94,"citation_normalized_percentile":{"value":0.99230267,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"11","issue":null,"first_page":"95060","last_page":"95078"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11636","display_name":"Artificial Intelligence in Healthcare and Education","score":0.9763000011444092,"subfield":{"id":"https://openalex.org/subfields/2718","display_name":"Health Informatics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9611999988555908,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8570844531059265},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7317109107971191},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.707008957862854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6273170709609985},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6208023428916931},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.5644173622131348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.495400071144104},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49132147431373596},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.43708425760269165},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.4213241934776306},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.2247706949710846}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8570844531059265},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7317109107971191},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.707008957862854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6273170709609985},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6208023428916931},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.5644173622131348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.495400071144104},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49132147431373596},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.43708425760269165},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.4213241934776306},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2247706949710846},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3310935","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3310935","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10235949.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d310831d5296475aa84f1dabd9cfc6d2","is_oa":true,"landing_page_url":"https://doaj.org/article/d310831d5296475aa84f1dabd9cfc6d2","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 95060-95078 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3310935","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3310935","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10235949.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386320380.pdf","grobid_xml":"https://content.openalex.org/works/W4386320380.grobid-xml"},"referenced_works_count":79,"referenced_works":["https://openalex.org/W2799002257","https://openalex.org/W2974141411","https://openalex.org/W3003205975","https://openalex.org/W3043330754","https://openalex.org/W3047062112","https://openalex.org/W3087481565","https://openalex.org/W3112400770","https://openalex.org/W3117529144","https://openalex.org/W3131210852","https://openalex.org/W3134781585","https://openalex.org/W3135889196","https://openalex.org/W3151305554","https://openalex.org/W3176484337","https://openalex.org/W3177813494","https://openalex.org/W3206798507","https://openalex.org/W3217659182","https://openalex.org/W4220879577","https://openalex.org/W4221152848","https://openalex.org/W4224912544","https://openalex.org/W4225591000","https://openalex.org/W4226278401","https://openalex.org/W4226352076","https://openalex.org/W4285428875","https://openalex.org/W4292779060","https://openalex.org/W4297812239","https://openalex.org/W4302305808","https://openalex.org/W4303648971","https://openalex.org/W4307323375","https://openalex.org/W4309130018","https://openalex.org/W4312050615","https://openalex.org/W4313563140","https://openalex.org/W4313598212","https://openalex.org/W4317435073","https://openalex.org/W4320559489","https://openalex.org/W4324098937","https://openalex.org/W4330336502","https://openalex.org/W4361021201","https://openalex.org/W4362706753","https://openalex.org/W4364322170","https://openalex.org/W4379054524","https://openalex.org/W4379377990","https://openalex.org/W4383097638","https://openalex.org/W4383108413","https://openalex.org/W4383108457","https://openalex.org/W4383108852","https://openalex.org/W4383109478","https://openalex.org/W4383172072","https://openalex.org/W4384918448","https://openalex.org/W4385482474","https://openalex.org/W4388660746","https://openalex.org/W4389665359","https://openalex.org/W4389667254","https://openalex.org/W4394828156","https://openalex.org/W6778883912","https://openalex.org/W6783875883","https://openalex.org/W6791828658","https://openalex.org/W6798182279","https://openalex.org/W6798184267","https://openalex.org/W6809509765","https://openalex.org/W6810220367","https://openalex.org/W6810738896","https://openalex.org/W6811467201","https://openalex.org/W6839928859","https://openalex.org/W6843759960","https://openalex.org/W6845648307","https://openalex.org/W6845929178","https://openalex.org/W6846242362","https://openalex.org/W6846474256","https://openalex.org/W6847725737","https://openalex.org/W6848398109","https://openalex.org/W6850072970","https://openalex.org/W6850619646","https://openalex.org/W6850641253","https://openalex.org/W6850720105","https://openalex.org/W6850747815","https://openalex.org/W6851383143","https://openalex.org/W6851711645","https://openalex.org/W6854555012","https://openalex.org/W6854866820"],"related_works":["https://openalex.org/W4303619839","https://openalex.org/W3193567232","https://openalex.org/W1526424163","https://openalex.org/W4229726131","https://openalex.org/W2166791242","https://openalex.org/W2323122434","https://openalex.org/W2149328105","https://openalex.org/W3038859464","https://openalex.org/W4290638112","https://openalex.org/W2007682987"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,18,72,120,122,125,142,204,212],"novel":[4],"method":[5],"for":[6,26,225],"translating":[7],"natural-language":[8,139],"instructions":[9,65],"into":[10],"executable":[11],"robot":[12,33],"actions":[13],"using":[14,145],"OpenAI\u2019s":[15],"ChatGPT":[16,27,62,131,180],"in":[17,84,117,192,202],"few-shot":[19],"setting.":[20],"We":[21],"propose":[22],"customizable":[23,220],"input":[24],"prompts":[25,99,109,216,231],"that":[28,148,179],"can":[29,181,217],"easily":[30],"integrate":[31],"with":[32],"execution":[34],"systems":[35],"or":[36],"visual":[37],"recognition":[38],"programs,":[39],"adapt":[40],"to":[41,134,153],"various":[42,111],"environments,":[43,113],"and":[44,66,70,75,124,164,166,185,232,238],"create":[45],"multi-step":[46],"task":[47,73,86,95,159,200],"plans":[48,96],"while":[49],"mitigating":[50],"the":[51,90,98,105,136,167,196,226],"impact":[52],"of":[53,93,100,107,119,130,158,174,198],"token":[54],"limit":[55],"imposed":[56],"on":[57],"ChatGPT.":[58,101],"In":[59],"our":[60,149,210],"approach,":[61],"receives":[63],"both":[64,162],"textual":[67],"environmental":[68,80],"data,":[69],"outputs":[71],"plan":[74,183],"an":[76],"updated":[77],"environment.":[78],"These":[79,215],"data":[81],"are":[82,151,235],"reused":[83],"subsequent":[85],"planning,":[87],"thus":[88],"eliminating":[89],"extensive":[91],"record-keeping":[92],"prior":[94],"within":[97],"Experimental":[102],"results":[103,150],"demonstrated":[104],"effectiveness":[106],"these":[108],"across":[110],"domestic":[112],"such":[114],"as":[115,219],"manipulations":[116],"front":[118],"shelf,":[121],"fridge,":[123],"drawer.":[126],"The":[127],"conversational":[128],"capability":[129],"allows":[132],"users":[133],"adjust":[135],"output":[137],"via":[138],"feedback.":[140,175],"Additionally,":[141],"quantitative":[143],"evaluation":[144],"VirtualHome":[146],"showed":[147],"comparable":[152],"previous":[154],"studies.":[155],"Specifically,":[156],"36%":[157],"planning":[160,201],"met":[161],"executability":[163],"correctness,":[165],"rate":[168],"approached":[169],"100%":[170],"after":[171],"several":[172],"rounds":[173],"Our":[176,230],"experiments":[177],"revealed":[178],"reasonably":[182],"tasks":[184],"estimate":[186],"post-operation":[187],"environments":[188],"without":[189],"actual":[190],"experience":[191],"object":[193],"manipulation.":[194],"Despite":[195],"allure":[197],"ChatGPT-based":[199],"robotics,":[203],"standardized":[205],"methodology":[206],"remains":[207],"elusive,":[208],"making":[209],"work":[211],"substantial":[213],"contribution.":[214],"serve":[218],"templates,":[221],"offering":[222],"practical":[223],"resources":[224],"robotics":[227],"research":[228],"community.":[229],"source":[233,237],"code":[234],"open":[236],"publicly":[239],"available":[240],"at":[241],"https://github.com/microsoft/ChatGPT-Robot-Manipulation-Prompts.":[242]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":34},{"year":2024,"cited_by_count":33},{"year":2023,"cited_by_count":18}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}
