基盤モデルを用いたグローバルタスク計画とローカル行動拡張のための遠隔生活支援ロボットインターフェースシステム
Remote Life Support Robot Interface System for Global Task Planning and Local Action Expansion Using Foundation Models
言語指示にテンプレート変数を用いて不確実な情報を伝え、基盤モデルでロボットの行動を計画・拡張する遠隔生活支援システムを提案し、実タスクで有効性を示した。
著者: Yoshiki Obinata, Haoyu Jia, Kento Kawaharazuka, Naoaki Kanazawa, Kei Okada
分類: cs.RO
原文アブストラクト
Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In this study, we propose a system that includes ambiguous parts as template variables in language instructions to communicate the information to be collected and the options to be presented to the robot for predictable uncertain events. This study implements prompt generation for each robot action function based on template variables to collect information, and a feedback system for presenting and selecting options based on template variables for user-to-robot communication. The effectiveness of the proposed system was demonstrated through its application to real-life support tasks performed by the robot.
