Llama3を用いた音声指示による自律ナビゲーションの逐次計画

原文アブストラクト

In social robotics, a pivotal focus is enabling robots to engage with humans in a more natural and seamless manner. The emergence of advanced large language models (LLMs) such as Generative Pre-trained Transformers (GPTs) and autoregressive models like Large Language Model Meta AI (Llamas) has driven significant advancements in integrating natural language understanding capabilities into social robots. This paper presents a system for speech-guided sequential planning in autonomous navigation, utilizing Llama3 and the Robot Operating System~(ROS). The proposed system involves using Llama3 to interpret voice commands, extracting essential details through parsing, and decoding these commands into sequential actions for tasks. Such sequential planning is essential in various domains, particularly in the pickup and delivery of an object. Once a sequential navigation task is evaluated, we employ DRL-VO, a learning-based control policy that allows a robot to autonomously navigate through social spaces with static infrastructure and (crowds of) people. We demonstrate the effectiveness of the system in simulation experiment using Turtlebot 2 in ROS1 and Turtlebot 3 in ROS2. We conduct hardware trials using a Clearpath Robotics Jackal UGV, highlighting its potential for real-world deployment in scenarios requiring flexible and interactive robotic behaviors.