サービスロボティクスにおけるタスク計画・実行のためのプロンプトエンジニアリング手法の比較
A Comparison of Prompt Engineering Techniques for Task Planning and Execution in Service Robotics
サービスロボットの高レベルタスク計画と実行において、複数のプロンプトエンジニアリング手法とその組み合わせを比較し、タスク達成精度と実行時間を評価した。
著者: Jonas Bode, Bastian Pätzold, Raphael Memmesheimer, Sven Behnke
分類: cs.RO, cs.AI
原文アブストラクト
Recent advances in LLM have been instrumental in autonomous robot control and human-robot interaction by leveraging their vast general knowledge and capabilities to understand and reason across a wide range of tasks and scenarios. Previous works have investigated various prompt engineering techniques for improving the performance of LLM to accomplish tasks, while others have proposed methods that utilize LLMs to plan and execute tasks based on the available functionalities of a given robot platform. In this work, we consider both lines of research by comparing prompt engineering techniques and combinations thereof within the application of high-level task planning and execution in service robotics. We define a diverse set of tasks and a simple set of functionalities in simulation, and measure task completion accuracy and execution time for several state-of-the-art models.
