Leveraging Large Language Models to Orchestrate Bimanual Robot Control for Diverse Everyday Tasks

核心概念

Large Language Models can be effectively employed to coordinate the control of bimanual robots in accomplishing complex long-horizon manipulation tasks by generating sequential or simultaneous control policies based on the current task state.

要約

The paper introduces the LABOR (LAnguage-model-based Bimanual ORchestration) agent, which utilizes a Large Language Model (LLM) to orchestrate the control of a bimanual robot, the NICOL, in solving various everyday tasks.

The key highlights are:

1. The LABOR agent adopts two types of control policies for the bimanual robot - sequential control for uncoordinated and asymmetric processes, and simultaneous control for symmetric processes. The LLM is used to explicitly choose the appropriate control policy at each step.

2. The LLM is provided with a prompt containing background information about the robot's workspace and manipulation rules, as well as a skill library of primitive actions. Based on this, the LLM generates a chain of skills to accomplish the task, iteratively correcting any mistakes.

3. The LABOR agent is evaluated on the NICOL robot in three everyday tasks - ControlScissors, ServeWater, and HoldBowl. Experiments show that the LABOR agent with the GPT-4 LLM achieves high success rates, with failures mainly due to challenges in spatial reasoning, temporal coordination, and skill association.

4. Compared to a simpler LLM like GPT-3.5, the GPT-4-based LABOR agent demonstrates remarkable performance in orchestrating long-horizon bimanual manipulation, generating skill chains comparable to human-designed optimal solutions.

The work showcases the potential of leveraging powerful LLMs to enable versatile bimanual control in complex robotic tasks, paving the way for more advanced robot capabilities.

統計

The LABOR agent with GPT-4 achieves success rates of 79% on ControlScissors, 89% on ServeWater, and 86% on HoldBowl tasks.

引用

"Temporal failure refers to the fact that the LLM fails to generate skills in the correct order, Spatial failure refers that the LLM mishandles the spatial relationships in the operation, such as the relationship between two objects or between the robot's hand and an object, and Skill failure refers to the understanding deviance of the LLM in the correlation between the designed skills and the task requirements."

抽出されたキーインサイト

Large Language Models for Orchestrating Bimanual Robots

by Kun Chu,Xufe... 場所 arxiv.org 04-03-2024

https://arxiv.org/pdf/2404.02018.pdf

深掘り質問

How can the LABOR agent's performance be further improved, especially in handling spatial reasoning and skill association challenges

To enhance the LABOR agent's performance in addressing spatial reasoning and skill association challenges, several strategies can be implemented. Firstly, incorporating a more robust spatial reasoning module that can accurately interpret the spatial relationships between objects and the robot's hands is crucial. This can involve integrating advanced computer vision techniques to provide the agent with a more detailed understanding of the environment. Additionally, refining the skill association process by introducing a feedback loop mechanism can help the agent learn from its mistakes and adjust its skill selection based on the outcomes of previous actions. By incorporating reinforcement learning algorithms, the agent can adapt and improve its decision-making process over time. Moreover, providing the agent with a more extensive skill library that covers a wider range of manipulation tasks can enhance its adaptability and performance in various scenarios. By continuously updating and expanding the skill library based on new tasks and experiences, the agent can become more versatile and proficient in handling complex bimanual manipulation tasks.

What other types of bimanual manipulation tasks could be explored to test the generalization capabilities of the LABOR agent

The LABOR agent's generalization capabilities can be further tested by exploring a diverse range of bimanual manipulation tasks that vary in complexity and requirements. For instance, tasks involving object assembly, where the robot needs to assemble multiple parts using both hands, can test the agent's ability to coordinate precise movements and interactions between the hands. Tasks that require object manipulation in constrained spaces or with obstacles can challenge the agent's spatial reasoning and adaptability. Additionally, tasks that involve dynamic environments or changing object configurations can assess the agent's real-time decision-making and problem-solving abilities. By exposing the LABOR agent to a wide array of bimanual manipulation tasks, its generalization capabilities can be thoroughly evaluated, highlighting its strengths and areas for improvement.

How can the LABOR agent's approach be extended to enable more flexible and adaptive bimanual control, potentially incorporating real-time feedback and learning from experience

To enable more flexible and adaptive bimanual control, the LABOR agent's approach can be extended by incorporating real-time feedback mechanisms and learning from experience. Implementing a feedback loop that provides the agent with information about the outcomes of its actions can help it adjust its strategies and improve performance. By integrating sensors and vision systems that can provide real-time data on the environment and task progress, the agent can make informed decisions and adapt its behavior accordingly. Furthermore, leveraging reinforcement learning techniques to allow the agent to learn from its interactions and experiences can enhance its ability to optimize control policies and skill selection over time. By continuously updating its knowledge base and refining its decision-making processes based on feedback and learning, the LABOR agent can become more adaptive, efficient, and effective in handling a wide range of bimanual manipulation tasks.