论文标题
部分可观测时空混沌系统的无模型预测
Generating Executable Action Plans with Environmentally-Aware Language Models
论文作者
论文摘要
储层计算是预测湍流的有力工具，其简单的架构具有处理大型系统的计算效率。然而，其实现通常需要完整的状态向量测量和系统非线性知识。我们使用非线性投影函数将系统测量扩展到高维空间，然后将其输入到储层中以获得预测。我们展示了这种储层计算网络在时空混沌系统上的应用，该系统模拟了湍流的若干特征。我们表明，使用径向基函数作为非线性投影器，即使只有部分观测并且不知道控制方程，也能稳健地捕捉复杂的系统非线性。最后，我们表明，当测量稀疏、不完整且带有噪声，甚至控制方程变得不准确时，我们的网络仍然可以产生相当准确的预测，从而为实际湍流系统的无模型预测铺平了道路。
Large Language Models (LLMs) trained using massive text datasets have recently shown promise in generating action plans for robotic agents from high level text queries. However, these models typically do not consider the robot's environment, resulting in generated plans that may not actually be executable, due to ambiguities in the planned actions or environmental constraints. In this paper, we propose an approach to generate environmentally-aware action plans that agents are better able to execute. Our approach involves integrating environmental objects and object relations as additional inputs into LLM action plan generation to provide the system with an awareness of its surroundings, resulting in plans where each generated action is mapped to objects present in the scene. We also design a novel scoring function that, along with generating the action steps and associating them with objects, helps the system disambiguate among object instances and take into account their states. We evaluated our approach using the VirtualHome simulator and the ActivityPrograms knowledge base and found that action plans generated from our system had a 310% improvement in executability and a 147% improvement in correctness over prior work. The complete code and a demo of our method is publicly available at https://github.com/hri-ironlab/scene_aware_language_planner.
