Domain-Specific Fine-Tuning of Large Language Models for Interactive Robot Programming

Aleksandar Taranovic; Andreas Hermann; Benjamin Alt; Darko Katic; Gerhard Neumann; Rainer J\"akel; Urs Ke{\ss}ner

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Domain-Specific Fine-Tuning of Large Language Models for Interactive Robot Programming

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arxiv 2312.13905 v2 pith:K4X6DVTC submitted 2023-12-21 cs.RO cs.AIcs.CLcs.HCcs.LG

Benjamin Alt , Urs Ke{ss}ner , Aleksandar Taranovic , Darko Katic , Andreas Hermann , Rainer Jäkel , Gerhard Neumann This is my paper · ORCID

classification cs.ROcs.AIcs.CLcs.HCcs.LG

keywords programmingdomain-specificfine-tuningindustriallimitedmodelsrobotadvanced

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Industrial robots are applied in a widening range of industries, but robot programming mostly remains a task limited to programming experts. We propose a natural language-based assistant for programming of advanced, industrial robotic applications and investigate strategies for domain-specific fine-tuning of foundation models with limited data and compute.

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