Code as Policies

Code as Policies is a framework that leverages large language models (LLMs) to generate programs acting as policies for robotic control. By interpreting natural language commands, these models produce code that directs robots to execute complex tasks, integrating perception and control. This approach allows for the creation of both reactive and waypoint-based policies, facilitating advanced robotic behaviors across various platforms. The framework emphasizes the use of hierarchical code generation to manage intricate tasks, enhancing the adaptability and functionality of robotic systems.