Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for automatically generating code for contact-rich manipulation tasks by providing action space constraints to a large language model. One of the methods includes obtaining a library of available control methods for a robotic control system to cause a physical robot to move in an operating environment. The method further includes providing an input to an LLM that specifies a manipulation task to be performed using one or more of the available control methods and that specifies one or more action space constraints that constrain the physical movement of the robot in the operating environment according to forces sensed during performance of the manipulation task. Output code can be generated by the LLM, where the output code, when executed by the robotic control system, causes the physical robot to perform the manipulation task.