OPENTECHNICAL PUBLICATION
OT-2026-000002508

Automatic code generation for robotic manipulation tasks

Published: 2026-09-15T19:13:31.842780Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002508
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000002508
Published 2026-09-15T19:13:31.842780Z
https://opentechnical.org/p/OT-2026-000002508