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arXiv · 2308.03357

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

Yoshiki Obinata·Naoaki Kanazawa·Kento Kawaharazuka·Iori Yanokura·Soonhyo Kim·Kei Okada·Masayuki Inaba
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Abstract

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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Yoshiki Obinata, Naoaki Kanazawa, Kento Kawaharazuka, Iori Yanokura, Soonhyo Kim, Kei Okada, Masayuki Inaba. 2023-08-07. Foundation Model based Open Vocabulary Task Planning and Executive System for General Purpose Service Robots. https://arxiv.org/abs/2308.03357

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