Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis
CoRR(2023)
摘要
Building general-purpose robots that can operate seamlessly, in any
environment, with any object, and utilizing various skills to complete diverse
tasks has been a long-standing goal in Artificial Intelligence. Unfortunately,
however, most existing robotic systems have been constrained - having been
designed for specific tasks, trained on specific datasets, and deployed within
specific environments. These systems usually require extensively-labeled data,
rely on task-specific models, have numerous generalization issues when deployed
in real-world scenarios, and struggle to remain robust to distribution shifts.
Motivated by the impressive open-set performance and content generation
capabilities of web-scale, large-capacity pre-trained models (i.e., foundation
models) in research fields such as Natural Language Processing (NLP) and
Computer Vision (CV), we devote this survey to exploring (i) how these existing
foundation models from NLP and CV can be applied to the field of robotics, and
also exploring (ii) what a robotics-specific foundation model would look like.
We begin by providing an overview of what constitutes a conventional robotic
system and the fundamental barriers to making it universally applicable. Next,
we establish a taxonomy to discuss current work exploring ways to leverage
existing foundation models for robotics and develop ones catered to robotics.
Finally, we discuss key challenges and promising future directions in using
foundation models for enabling general-purpose robotic systems. We encourage
readers to view our ``living`` GitHub repository of resources, including papers
reviewed in this survey as well as related projects and repositories for
developing foundation models for robotics.
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