  This paper demonstrates how OpenAI's ChatGPT can be used in a few-shot
setting to convert natural language instructions into a sequence of executable
robot actions. The paper proposes easy-to-customize input prompts for ChatGPT
that meet common requirements in practical applications, such as easy
integration with robot execution systems and applicability to various
environments while minimizing the impact of ChatGPT's token limit. The prompts
encourage ChatGPT to output a sequence of predefined robot actions, represent
the operating environment in a formalized style, and infer the updated state of
the operating environment. Experiments confirmed that the proposed prompts
enable ChatGPT to act according to requirements in various environments, and
users can adjust ChatGPT's output with natural language feedback for safe and
robust operation. The proposed prompts and source code are open-source and
publicly available at
https://github.com/microsoft/ChatGPT-Robot-Manipulation-Prompts
