Verifiably Following Complex Robot Instructions with Foundation Models
CoRR(2024)
摘要
Enabling robots to follow complex natural language instructions is an
important yet challenging problem. People want to flexibly express constraints,
refer to arbitrary landmarks and verify behavior when instructing robots.
Conversely, robots must disambiguate human instructions into specifications and
ground instruction referents in the real world. We propose Language Instruction
grounding for Motion Planning (LIMP), a system that leverages foundation models
and temporal logics to generate instruction-conditioned semantic maps that
enable robots to verifiably follow expressive and long-horizon instructions
with open vocabulary referents and complex spatiotemporal constraints. In
contrast to prior methods for using foundation models in robot task execution,
LIMP constructs an explainable instruction representation that reveals the
robot's alignment with an instructor's intended motives and affords the
synthesis of robot behaviors that are correct-by-construction. We demonstrate
LIMP in three real-world environments, across a set of 35 complex
spatiotemporal instructions, showing the generality of our approach and the
ease of deployment in novel unstructured domains. In our experiments, LIMP can
spatially ground open-vocabulary referents and synthesize constraint-satisfying
plans in 90
instructions. See supplementary videos at https://robotlimp.github.io
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要