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Chain of Thought Reasoning for Robot...

Yang, Fan.

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Chain of Thought Reasoning for Robotic Arm Grasping and Embodied Spatial Perception.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Chain of Thought Reasoning for Robotic Arm Grasping and Embodied Spatial Perception./
作者:	Yang, Fan.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2024,
面頁冊數:	66 p.
附註:	Source: Masters Abstracts International, Volume: 85-11.
Contained By:	Masters Abstracts International85-11.
標題:	Computer engineering. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31297337
ISBN:	9798382715230

Chain of Thought Reasoning for Robotic Arm Grasping and Embodied Spatial Perception.
Yang, Fan.

Chain of Thought Reasoning for Robotic Arm Grasping and Embodied Spatial Perception. - Ann Arbor : ProQuest Dissertations & Theses, 2024 - 66 p.

Source: Masters Abstracts International, Volume: 85-11.

Thesis (M.S.)--New York University Tandon School of Engineering, 2024.

The rapid development of language models such as BERT, GPT-3, and GPT-4 in recent years, has promoted the emergence of visual language models and multi-modal models, further enhancing the model's scene perception and interaction capabilities. At the same time, with the development of robots and embedded artificial intelligence, we have also seen continuous growth in research on embodied artificial intelligence (AI). This article introduces how to apply large language models (LLMs), visual models, and multi-modal models to robot tasks to enhance their scene perception and interaction capabilities.Our research is divided into three experiments. The first experiment focused on environmental perception, improving the text output quality of the visual language model in the current scene through carefully designed prompt engineering and auxiliary prompts. The second experiment further explored the interaction between robotic agents and the scene. We designed an end-to-end system based on a large language model and a Thought-to-Action Reasoning (TAR) module to enhance the robotic arm's understanding of target grasping tasks. The third experiment focuses on spatial information understanding, and we propose the Embodied Spatial Reasoning (EMBOSR) module to enhance the robotic agent's understanding of the 3D point cloud scene and answer various questions based on that scene. We propose a human instruction analysis system of robotic arm grasping and a 3D scene perception and question-answering system based on LLMs. The comprehensive reasoning ability of the systems is demonstrated through various simulated and real experiments. They indicate the important role of prompt engineering and chain of thought reasoning in completing robotic tasks, and also the importance and potential value of applying large language models to human-robot interaction tasks.

ISBN: 9798382715230Subjects--Topical Terms:

621879
Computer engineering.
Subjects--Index Terms:

Computer vision

Chain of Thought Reasoning for Robotic Arm Grasping and Embodied Spatial Perception.
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