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Foundation Model based Open Vocabulary Task Planning and Executive System for General Purpose Service Robots

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arxiv 2308.03357 v1 pith:WRIINNL2 submitted 2023-08-07 cs.RO

Yoshiki Obinata , Naoaki Kanazawa , Kento Kawaharazuka , Iori Yanokura , Soonhyo Kim , Kei Okada , Masayuki Inaba This is my paper
classification cs.RO
keywords tasksystemfoundationgpsropenrobotexecutablegeneral
verification ladder T0 review T1 audit T2 compute T3 formal
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This paper describes a strategy for implementing a robotic system capable of performing General Purpose Service Robot (GPSR) tasks in robocup@home. The GPSR task is that a real robot hears a variety of commands in spoken language and executes a task in a daily life environment. To achieve the task, we integrate foundation models based inference system and a state machine task executable. The foundation models plan the task and detect objects with open vocabulary, and a state machine task executable manages each robot's actions. This system works stable, and we took first place in the RoboCup@home Japan Open 2022's GPSR with 130 points, more than 85 points ahead of the other teams.

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