| Title: | OS15-4 Development of A SayCan-based Task Planning System Capable of Handling Abstract Nouns |
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| Publication: | ICAROB2024 |
| Volume: | 29 |
| Pages: | 430-434 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2024.OS15-4 |
| Author(s): | Kosei Yamao, Daiju Kanaoka, Kosei Isomoto, Akinobu Mizutani, Yuichiro Tanaka, Hakaru Tamukoh |
| Publication Date: | February 22, 2024 |
| Keywords: | Task planning, Home service robot, Large language model, RoboCup@Home |
| Abstract: | The task planning system is required to accomplish various requests from a human in real-world environments. SayCan, one of the task planning systems, has high accuracy. However, its accuracy decreases for requests that include abstract nouns of the ambiguous word/phrase. We propose a novel task planning system based on SayCan that introduces a function for checking concrete names of abstract nouns and a rule-based skill extraction, enhancing accuracy. The proposed system facilitates the interpretation of requests and enables appropriate task planning. The effectiveness of the proposed system was demonstrated at RoboCup@Home, where it achieved high performance. |
| PDF File: | https://alife-robotics.co.jp/members2024/icarob/data/html/data/OS/OS15-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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