Towards No-Code Programming of Cobots: Experiments with Code Synthesis by Large Code Models for Conversational Programming

Abstract: While there has been a lot of research recently on robots in household environments, at the present time, most robots in existence can be found on shop floors, and most interactions between humans and robots happen there. Collaborative robots'' (cobots) designed to work alongside humans on assembly lines traditionally require expert programming, limiting ability to make changes, or manual guidance, limiting expressivity of the resulting programs. To address these limitations, we explore using LLMs, and in particular, their abilities of doing in-context learning, for conversational code generation. As a first step, we define RATS, theRepetitive Assembly Task'', a 2D building task designed to lay the foundation for simulating industry assembly scenarios. In this task, a programmer' instructs a cobot, using natural language, on how a certain assembly is to be built; that is, the programmer induces a program, through natural language. We create a dataset that pairs target structures with various example instructions (human-authored, template-based, and model-generated) and example code. With this, we systematically evaluate the capabilities of state-of-the-art LLMs for synthesising this kind of code, given in-context examples. Evaluating in a simulated environment, we find that LLMs are capable of generating accuratefirst order code' (instruction sequences), but have problems producing `higher-order code' (abstractions such as functions, or use of loops).