実践主義ロボット：実世界経験を通じたタスク計画の学習
A Pragmatist Robot: Learning to Plan Tasks by Experiencing the Real World
VLMを脳と目として使い、実世界での行動結果を自己反省して短期・長期記憶に蓄え、RAGで過去経験を活かしてタスク計画を改善するフレームワークPragmaBotを提案。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Kaixian Qu, Guowei Lan, René Zurbrügg, Changan Chen, Christopher E. Mower, Haitham Bou-Ammar, Marco Hutter
分類: cs.RO, cs.AI, cs.CL
原文アブストラクト
Large language models (LLMs) have emerged as the dominant paradigm for robotic task planning using natural language instructions. However, trained on general internet data, LLMs are not inherently aligned with the embodiment, skill sets, and limitations of real-world robotic systems. Inspired by the emerging paradigm of verbal reinforcement learning-where LLM agents improve through self-reflection and few-shot learning without parameter updates-we introduce PragmaBot, a framework that enables robots to learn task planning through real-world experience. PragmaBot employs a vision-language model (VLM) as the robot's "brain" and "eye", allowing it to visually evaluate action outcomes and self-reflect on failures. These reflections are stored in a short-term memory (STM), enabling the robot to quickly adapt its behavior during ongoing tasks. Upon task completion, the robot summarizes the lessons learned into its long-term memory (LTM). When facing new tasks, it can leverage retrieval-augmented generation (RAG) to plan more grounded action sequences by drawing on relevant past experiences and knowledge. Experiments on four challenging robotic tasks show that STM-based self-reflection increases task success rates from 35% to 84%, with emergent intelligent object interactions. In 12 real-world scenarios (including eight previously unseen tasks), the robot effectively learns from the LTM and improves single-trial success rates from 22% to 80%, with RAG outperforming naive prompting. These results highlight the effectiveness and generalizability of PragmaBot. Project webpage: https://pragmabot.github.io/
