系统梳理基础模型机器人全生命周期物理风险控制方法
A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Robotics
- 按部署前、事故前、事故后三阶段分类风险控制策略
- 发现事故前风险缓解和人机交互研究仍存巨大空白
- 适合关注人机安全与机器人落地的科研人员参考
近年来，基于基础模型的机器人（FMRs）展现出强大的通用能力，可实现比传统机器人更灵活的自动化，为替代人力创造了新机遇。然而，与通用基础模型不同，FMRs直接与物理世界交互，其行为会直接影响人类与周边物体的安全，因此需要谨慎部署与控制。基于此，本综述全面总结了从部署前到事故后全生命周期的机器人风险控制方法，将时间线划分为三个阶段：(1) 部署前阶段，(2) 事故前阶段，(3) 事故后阶段。我们发现，当前研究在(1)事故前风险缓解策略、(2)涉及人机物理交互的研究，以及(3)基础模型自身的核心问题方面仍有较大探索空间。期望本综述能成为高精度分析FMR物理风险及其控制的重要里程碑，推动良好人机关系的实现。
原文摘要 · Abstract (English)
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to handle diverse tasks thus creates new opportunities to replace human labor. However, unlike general foundation models, FMRs interact with the physical world, where their actions directly affect the safety of humans and surrounding objects, requiring careful deployment and control. Based on this proposition, our survey comprehensively summarizes robot control approaches to mitigate physical risks by covering all the lifespan of FMRs ranging from pre-deployment to post-accident stage. Specifically, we broadly divide the timeline into the following three phases: (1) pre-deployment phase, (2) pre-incident phase, and (3) post-incident phase. Throughout this survey, we find that there is much room to study (i) pre-incident risk mitigation strategies, (ii) research that assumes physical interaction with humans, and (iii) essential issues of foundation models themselves. We hope that this survey will be a milestone in providing a high-resolution analysis of the physical risks of FMRs and their control, contributing to the realization of a good human-robot relationship.
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