Large Language Models (LLMs) have the potential to revolutionize the field of robotics by enabling advanced natural language understanding and reasoning capabilities, making them ideal for robot control and human–robot interaction. This chapter explores the role of LLMs in LLM-controlled robot systems, focusing on human–robot interaction and instruction–action alignment. Various literature studies have reported that by pretraining on vast amounts of text data across different domains and fine-tuning with human demonstration data, LLMs can interpret high-level natural language commands and translate them into actionable instructions for robots to execute. This approach offers several advantages over traditional robot control methods, such as improved accuracy, flexibility, robustness, and user-friendliness. The integration of LLMs into closed-loop robot control systems has led to the development of various real-world applications, including robots for interactive healthcare, manufacturing workflow, and home assistance. During the pre-training and fine-tuning, it is vital to leverage advanced machine learning techniques such as multimodal learning, semantic context analysis, real-time feedback, and interactive learning mechanisms to handle ambiguities and under-specification in natural language instructions. From the learning theory perspective, feedback loops and continuous learning also play important roles in enhancing the model’s capability to understand natural language instructions and the accuracy of generated robot actions. Future research directions include integrating more modalities of human instructions, such as brain signals and hand gestures, for closed-loop robot control system design, as well as leveraging community efforts and open-source resources to accelerate innovation in LLM-based robot control.
Robot Control via Natural Instructions Empowered by Large Language Model
Discovering the Frontiers of Human-Robot Interaction ; Chapter : 19 ; 437-457
2024-07-24
21 pages
Article/Chapter (Book)
Electronic Resource
English
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