LLM-Based Human-Robot Collaboration Framework for Manipulation Tasks

• URL: http://arxiv.org/abs/2308.14972v1
• Date: Tue, 29 Aug 2023 01:54:49 GMT
• Title: LLM-Based Human-Robot Collaboration Framework for Manipulation Tasks
• Authors: Haokun Liu, Yaonan Zhu, Kenji Kato, Izumi Kondo, Tadayoshi Aoyama, and Yasuhisa Hasegawa
• Abstract summary: This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference. The proposed system combines the advantage of LLM with YOLO-based environmental perception to enable robots to autonomously make reasonable decisions.
• Score: 4.4589894340260585
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed system combines the advantage of LLM with YOLO-based environmental perception to enable robots to autonomously make reasonable decisions and task planning based on the given commands. Additionally, to address the potential inaccuracies or illogical actions arising from LLM, a combination of teleoperation and Dynamic Movement Primitives (DMP) is employed for action correction. This integration aims to improve the practicality and generalizability of the LLM-based human-robot collaboration system.

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