双方向意図コミュニケーション：大規模基盤モデルの役割
Bidirectional Intent Communication: A Role for Large Foundation Models
音声や視線などのマルチモーダル入力を用いて、言葉とジェスチャーの両方で人間と双方向にやり取りできるユーザー中心のロボットフレームワーク「Bident」を提案した論文。
著者: Tim Schreiter, Rishi Hazra, Jens Rüppel, Andrey Rudenko
分類: cs.RO, cs.HC
原文アブストラクト
Integrating multimodal foundation models has significantly enhanced autonomous agents' language comprehension, perception, and planning capabilities. However, while existing works adopt a \emph{task-centric} approach with minimal human interaction, applying these models to developing assistive \emph{user-centric} robots that can interact and cooperate with humans remains underexplored. This paper introduces ``Bident'', a framework designed to integrate robots seamlessly into shared spaces with humans. Bident enhances the interactive experience by incorporating multimodal inputs like speech and user gaze dynamics. Furthermore, Bident supports verbal utterances and physical actions like gestures, making it versatile for bidirectional human-robot interactions. Potential applications include personalized education, where robots can adapt to individual learning styles and paces, and healthcare, where robots can offer personalized support, companionship, and everyday assistance in the home and workplace environments.
