Evolution 6.0：生成AIによるロボット進化
Evolution 6.0: Robot Evolution through Generative Design
VLM・VLA・テキストto3D生成モデルを組み合わせ、人間の指示に必要な道具をロボットが自律的に設計・製作し、その使い方を学習してタスクを遂行するシステムを提案。
著者: Muhammad Haris Khan, Artyom Myshlyaev, Artem Lykov, Miguel Altamirano Cabrera, Dzmitry Tsetserukou
分類: cs.RO, cs.NE
原文アブストラクト
We propose a new concept, Evolution 6.0, which represents the evolution of robotics driven by Generative AI. When a robot lacks the necessary tools to accomplish a task requested by a human, it autonomously designs the required instruments and learns how to use them to achieve the goal. Evolution 6.0 is an autonomous robotic system powered by Vision-Language Models (VLMs), Vision-Language Action (VLA) models, and Text-to-3D generative models for tool design and task execution. The system comprises two key modules: the Tool Generation Module, which fabricates task-specific tools from visual and textual data, and the Action Generation Module, which converts natural language instructions into robotic actions. It integrates QwenVLM for environmental understanding, OpenVLA for task execution, and Llama-Mesh for 3D tool generation. Evaluation results demonstrate a 90% success rate for tool generation with a 10-second inference time, and action generation achieving 83.5% in physical and visual generalization, 70% in motion generalization, and 37% in semantic generalization. Future improvements will focus on bimanual manipulation, expanded task capabilities, and enhanced environmental interpretation to improve real-world adaptability.
