RoboGolf：反射的マルチモーダル視覚言語モデルによる実世界ミニゴルフの習得
RoboGolf: Mastering Real-World Minigolf with a Reflective Multi-Modality Vision-Language Model
2台のカメラによる知覚と閉ループ行動修正、さらに反射的均衡ループを組み合わせたVLMベースの枠組みで、実世界のミニゴルフをプレイするロボットを実現した。
著者: Hantao Zhou, Tianying Ji, Lukas Sommerhalder, Michael Goerner, Norman Hendrich, Jianwei Zhang, Fuchun Sun, Huazhe Xu
分類: cs.RO, cs.AI
原文アブストラクト
Minigolf is an exemplary real-world game for examining embodied intelligence, requiring challenging spatial and kinodynamic understanding to putt the ball. Additionally, reflective reasoning is required if the feasibility of a challenge is not ensured. We introduce RoboGolf, a VLM-based framework that combines dual-camera perception with closed-loop action refinement, augmented by a reflective equilibrium loop. The core of both loops is powered by finetuned VLMs. We analyze the capabilities of the framework in an offline inference setting, relying on an extensive set of recorded trajectories. Exemplary demonstrations of the analyzed problem domain are available at https://jity16.github.io/RoboGolf/
