Dobby: GPT-4で駆動する対話型サービスロボット
Dobby: A Conversational Service Robot Driven by GPT-4
大規模言語モデルを身体を持つロボットに組み込み、自然な会話とタスク計画を統合したサービスロボットを開発し、案内タスクでの人間との相互作用を評価した。
著者: Carson Stark, Bohkyung Chun, Casey Charleston, Varsha Ravi, Luis Pabon, Surya Sunkari, Tarun Mohan, Peter Stone, Justin Hart
分類: cs.RO, cs.AI
原文アブストラクト
This work introduces a robotics platform which embeds a conversational AI agent in an embodied system for natural language understanding and intelligent decision-making for service tasks; integrating task planning and human-like conversation. The agent is derived from a large language model, which has learned from a vast corpus of general knowledge. In addition to generating dialogue, this agent can interface with the physical world by invoking commands on the robot; seamlessly merging communication and behavior. This system is demonstrated in a free-form tour-guide scenario, in an HRI study combining robots with and without conversational AI capabilities. Performance is measured along five dimensions: overall effectiveness, exploration abilities, scrutinization abilities, receptiveness to personification, and adaptability.
