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Abstract - Object Search in Partially-Known Environments via LLM-informed Model-based Planning and Prompt Selection
We present a novel LLM-informed model-based planning framework, and a novel prompt selection method, for object search in partially-known environments. Our approach uses an LLM to estimate statistics about the likelihood of finding the target object when searching various locations throughout the scene that, combined with travel costs extracted from the environment map, are used to instantiate a model, thus using the LLM to inform planning and achieve effective search performance. Moreover, the abstraction upon which our approach relies is amenable to deployment-time model selection via the recent offline replay approach, an insight we leverage to enable fast prompt and LLM selection during deployment. Simulation experiments demonstrate that our LLM-informed model-based planning approach outperforms the baseline planning strategy that fully relies on LLM and optimistic strategy with as much as 11.8% and 39.2% improvements respectively, and our bandit-like selection approach enables quick selection of best prompts and LLMs resulting in 6.5% lower average cost and 33.8% lower average cumulative regret over baseline UCB bandit selection. Real-robot experiments in an apartment demonstrate similar improvements and so further validate our approach.
基于LLM信息增强的模型规划与提示选择在部分已知环境中的物体搜索 /
Object Search in Partially-Known Environments via LLM-informed Model-based Planning and Prompt Selection
1️⃣ 一句话总结
这篇论文提出了一种新方法,通过让大语言模型(LLM)预测在场景不同位置找到目标物体的可能性,并结合环境地图的移动成本来指导机器人规划,从而在部分已知环境中更高效地搜索物体,同时利用一种快速选择机制来动态选用最佳提示词和LLM,显著提升了搜索性能。