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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...
| Autores principales: | , , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2023
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| Materias: | |
| 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 |