We introduce AutoCoder, the first Large Language Model to surpass GPT-4 Turbo (April 2024) and GPT-4o in pass@1 on the Human Eval benchmark test ($\mathbf{90.9\%}$ vs. $\mathbf{90.2\%}$). In addition, AutoCoder offers a more versatile code interpreter compared to GPT-4 Turbo and GPT-4o. It's code interpreter can install external packages instead of limiting to built-in packages. AutoCoder's training data is a multi-turn dialogue dataset created by a system combining agent interaction and external code execution verification, a method we term \textbf{\textsc{AIEV-Instruct}} (Instruction Tuning with Agent-Interaction and Execution-Verified). Compared to previous large-scale code dataset generation methods, \textsc{AIEV-Instruct} reduces dependence on proprietary large models and provides execution-validated code dataset. The code and the demo video is available in \url{https://github.com/bin123apple/AutoCoder}.
We demonstrate experimental results with LLMs that address robotics task planning problems. Recently, LLMs have been applied in robotics task planning, particularly using a code generation approach that converts complex high-level instructions into mid-level policy codes. In contrast, our approach acquires text descriptions of the task and scene objects, then formulates task planning through natural language reasoning, and outputs coordinate level control commands, thus reducing the necessity for intermediate representation code as policies with pre-defined APIs. Our approach is evaluated on a multi-modal prompt simulation benchmark, demonstrating that our prompt engineering experiments with natural language reasoning significantly enhance success rates compared to its absence. Furthermore, our approach illustrates the potential for natural language descriptions to transfer robotics skills from known tasks to previously unseen tasks. The project website: https://natural-language-as-policies.github.io/