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Título del libro: 2024 Ieee/sice International Symposium On System Integration, Sii 2024
Título del capítulo: Keep it Simple: Understanding Natural Language Commands for General-Purpose Service Robots

Autores UNAM:
JESUS SAVAGE CARMONA;
Autores externos:

Idioma:

Año de publicación:
2024
Palabras clave:

Intelligent robots; Mobile robots; Natural language processing systems; Dependency structures; Language model; Language processing; Natural languages; Robot competitions; Service robots; Simple++; System use; Expert systems


Resumen:

Service robots are designed to perform useful tasks for humans, which involve managing and combining a variety of skills in the form of global and local plans to solve any given task. In this work, we propose a framework to process natural language commands for general-purpose service robots where the robot should perform an arbitrary spoken command requested by a non-expert operator. Our system uses a Natural Language Processing (NLP) parser and a Conceptual Dependency (CD) builder to create CD structures that an expert system can employ to generate a global plan that the robot will execute. An extra simplification step using Large Language Models (LLM) was tested and evaluated in order to improve the accuracy of the system. Finally, our system has been tested in challenging environments in robot competitions and we have achieved promising results. © 2024 IEEE.


Entidades citadas de la UNAM: