Learning to reason over scene graphs: a case study of finetuning GPT-2 into a robot language model for grounded task planning

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task planning by learning to decompose tasks into subgoal specifi...

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Detalles Bibliográficos
Autores principales: Chalvatzaki, Georgia, Younes, Ali, Nandha, Daljeet, Le, An Thai, Ribeiro, Leonardo F. R., Gurevych, Iryna
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2023
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10464606/
https://www.ncbi.nlm.nih.gov/pubmed/37649810
http://dx.doi.org/10.3389/frobt.2023.1221739

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10464606/
https://www.ncbi.nlm.nih.gov/pubmed/37649810
http://dx.doi.org/10.3389/frobt.2023.1221739

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