ロボットの物体曖昧性解消のための大規模言語モデル
LLMs for Robotic Object Disambiguation
大規模言語モデル（LLM）を用いて、ロボットがユーザーの求める物体を曖昧さなく特定するための意思決定を支援する手法を提案。少数ショットプロンプトエンジニアリングにより、LLMが適切な質問を生成し、複雑な物体群から正しい物体を選び出せることを示した。
著者: Connie Jiang, Yiqing Xu, David Hsu
分類: cs.RO, cs.CL, cs.LG
原文アブストラクト
The advantages of pre-trained large language models (LLMs) are apparent in a variety of language processing tasks. But can a language model's knowledge be further harnessed to effectively disambiguate objects and navigate decision-making challenges within the realm of robotics? Our study reveals the LLM's aptitude for solving complex decision making challenges that are often previously modeled by Partially Observable Markov Decision Processes (POMDPs). A pivotal focus of our research is the object disambiguation capability of LLMs. We detail the integration of an LLM into a tabletop environment disambiguation task, a decision making problem where the robot's task is to discern and retrieve a user's desired object from an arbitrarily large and complex cluster of objects. Despite multiple query attempts with zero-shot prompt engineering (details can be found in the Appendix), the LLM struggled to inquire about features not explicitly provided in the scene description. In response, we have developed a few-shot prompt engineering system to improve the LLM's ability to pose disambiguating queries. The result is a model capable of both using given features when they are available and inferring new relevant features when necessary, to successfully generate and navigate down a precise decision tree to the correct object--even when faced with identical options.
