ロボットに怒鳴らないで：言語モデル駆動ロボットのための協調インターフェースとしての物理的修正
Don't Yell at Your Robot: Physical Correction as the Collaborative Interface for Language Model Powered Robots
LLMで動作するロボットに対し、人間が物理的な力で動きを修正すると、その意図を再推定して自然言語に変換し、以後のLLMの指示生成を改善する手法を提案した。
著者: Chuye Zhang, Yifei Simon Shao, Harshil Parekh, Junyao Shi, Pratik Chaudhari, Vijay Kumar, Nadia Figueroa
分類: cs.RO, cs.HC
原文アブストラクト
We present a novel approach for enhancing human-robot collaboration using physical interactions for real-time error correction of large language model (LLM) powered robots. Unlike other methods that rely on verbal or text commands, the robot leverages an LLM to proactively executes 6 DoF linear Dynamical System (DS) commands using a description of the scene in natural language. During motion, a human can provide physical corrections, used to re-estimate the desired intention, also parameterized by linear DS. This corrected DS can be converted to natural language and used as part of the prompt to improve future LLM interactions. We provide proof-of-concept result in a hybrid real+sim experiment, showcasing physical interaction as a new possibility for LLM powered human-robot interface.
