Remote Life Support Robot Interface System for Global Task Planning and Local Action Expansion Using Foundation Models
Abstract
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.
Cite
@article{arxiv.2411.10038,
title = {Remote Life Support Robot Interface System for Global Task Planning and Local Action Expansion Using Foundation Models},
author = {Yoshiki Obinata and Haoyu Jia and Kento Kawaharazuka and Naoaki Kanazawa and Kei Okada},
journal= {arXiv preprint arXiv:2411.10038},
year = {2024}
}
Comments
Accepted to 2024 IEEE-RAS International Conference on Humanoids Robots (Humanoids 2024)