基盤モデルによるオープンボキャブラリなタスク計画・実行システム：汎用サービスロボット向け
Foundation Model based Open Vocabulary Task Planning and Executive System for General Purpose Service Robots
基盤モデルでタスク計画とオープンボキャブラリ物体検出を行い、状態機械でロボット動作を管理するGPSR向けシステムを構築し、RoboCup@home Japan Open 2022のGPSRで優勝した。
著者: Yoshiki Obinata, Naoaki Kanazawa, Kento Kawaharazuka, Iori Yanokura, Soonhyo Kim, Kei Okada, Masayuki Inaba
分類: cs.RO
原文アブストラクト
This paper describes a strategy for implementing a robotic system capable of performing General Purpose Service Robot (GPSR) tasks in robocup@home. The GPSR task is that a real robot hears a variety of commands in spoken language and executes a task in a daily life environment. To achieve the task, we integrate foundation models based inference system and a state machine task executable. The foundation models plan the task and detect objects with open vocabulary, and a state machine task executable manages each robot's actions. This system works stable, and we took first place in the RoboCup@home Japan Open 2022's GPSR with 130 points, more than 85 points ahead of the other teams.
