使用大型语言模型进行神经象征性机器人行动计划的框架
Alessio Capitanelli1, Fulvio Mastrogiovanni1
1Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genoa, Italy.
Frontiers in neurorobotics
|June 19, 2024
概括
本研究介绍了Teriyaki,这是一个使用大型语言模型 (LLM) 进行机器人任务规划的新框架. 泰里亚基在动态环境中提高了可扩展性和效率,改善了人机交互.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 机器学习 机器学习
背景情况:
- 象征性任务规划对于机器人的自主性至关重要,但在动态的人机协作场景中,它在可扩展性方面存在困难.
- 限制包括缓慢的计划时间,长时间的计划长度,以及难以适应现实世界的变化,阻碍机器人的效率和交互流性.
研究的目的:
- 通过使用大型语言模型 (LLM) 开发神经符号任务计划器,弥合象征性任务规划和机器学习之间的差距.
- 利用LLM的生成能力来克服复杂和动态环境中的传统符号规划者的局限性.
主要方法:
- 开发了一个名为Teriyaki的框架,将GPT-3 (大型语言模型) 训练成与PDDL (规划域定义语言) 兼容的神经符号任务规划器.
- 利用了LLM的线性扩展响应时间和逐步行动计划综合,用于并发的规划和执行.
主要成果:
- 在1000个样本的测试数据集上,Teriyaki实现了95.5%的解决问题率.
- 生成的计划比传统的象征性规划器要短13.5%.
- 计划可用性的平均等待时间减少了61.4%.
结论:
- 泰里亚基的规划性能与传统规划人员相美,同时通过LLM集成提高了可扩展性和效率.
- 该框架允许更快,更适应的机器人任务规划,在复杂的场景中改善人机交互.
相关概念视频
01:10Higher Mental Functions of the Brain: Language
4.2K
Language is a system of communication that allows the expression of thoughts, ideas, and feelings. The brain processes language in both hemispheres.
Language formation and comprehension take place in the dominant hemisphere. The dominant hemisphere is responsible for understanding the meaning of spoken, written, or sign language, as well as the ability to communicate. For most people, the left hemisphere is the dominant one. The right hemisphere, then, gives tone and emotional context to the...
Language formation and comprehension take place in the dominant hemisphere. The dominant hemisphere is responsible for understanding the meaning of spoken, written, or sign language, as well as the ability to communicate. For most people, the left hemisphere is the dominant one. The right hemisphere, then, gives tone and emotional context to the...
4.2K
01:24Sequence Networks of Rotating Machines
544
A Y-connected synchronous generator, grounded through a neutral impedance, is designed to produce balanced internal phase voltages with only positive-sequence components. The generator's sequence networks include a source voltage that is exclusively in the positive-sequence network. The sequence components of line-to-ground voltages at the generator terminals illustrate this configuration.
Zero-sequence current induces a voltage drop across the generator's neutral impedance and other...
Zero-sequence current induces a voltage drop across the generator's neutral impedance and other...
544
01:27Language and Cognition
1000
Language serves as a bridge between ideas and communication, influencing how individuals perceive and interact with the world. Psychologists have long debated whether language shapes thought or vice versa. This discussion gained grip with Edward Sapir and Benjamin Lee Whorf in the 1940s, who proposed that language determines thought, a concept known as linguistic determinism. They suggested that the vocabulary and structure of a language influence how its speakers think and perceive reality.
1000
01:28Automatic Processing and Automatic Social Behavior
361
Automatic processing refers to the cognitive operations that occur without conscious intent or awareness, playing a fundamental role in shaping social cognition and behavior. These processes enable individuals to navigate complex social environments efficiently by relying on mental shortcuts and pre-existing knowledge structures known as schemas. One of the most influential mechanisms underlying automatic processing is priming, which subtly activates mental representations through exposure to...
361