Enabling Waypoint Generation for Collaborative Robots using LLMs and Mixed Reality
arxiv(2024)
摘要
Programming a robotic is a complex task, as it demands the user to have a
good command of specific programming languages and awareness of the robot's
physical constraints. We propose a framework that simplifies robot deployment
by allowing direct communication using natural language. It uses large language
models (LLM) for prompt processing, workspace understanding, and waypoint
generation. It also employs Augmented Reality (AR) to provide visual feedback
of the planned outcome. We showcase the effectiveness of our framework with a
simple pick-and-place task, which we implement on a real robot. Moreover, we
present an early concept of expressive robot behavior and skill generation that
can be used to communicate with the user and learn new skills (e.g., object
grasping).
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