IROSA lets pre-trained LLMs adapt robot skills via natural language commands by choosing and setting parameters on a set of tools, demonstrated successfully on a 7-DoF robot for bearing ring insertion.
A tutorial on task-parameterized movement learning and retrieval,
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IROSA: Interactive Robot Skill Adaptation using Natural Language
IROSA lets pre-trained LLMs adapt robot skills via natural language commands by choosing and setting parameters on a set of tools, demonstrated successfully on a 7-DoF robot for bearing ring insertion.