用AI助手+图形界面，让普通人也能快速编程机器人行为树。
Design and Evaluation of an Assisted Programming Interface for Behavior Trees in Robotics
- 融合大模型、规划与进化算法，通过拖拽界面生成行为树。
- 60人实验显示，使用辅助工具的用户任务完成率显著提升。
- 适合机器人开发新手或非专业程序员快速上手复杂逻辑编程。
让非专业人员快速编写反应式机器人程序的需求日益迫切。然而，如何将多种自动生成行为树（BT）的技术与完整图形化界面结合，使人类用户能验证和编辑由自动化方法生成的树，仍缺乏探索。本文提出BETR-GUI，一种结合大型语言模型、规划、遗传编程和贝叶斯优化的AI助手，配合拖拽式编辑器，辅助用户创建行为树。对60名参与者的用户研究显示，融合多种辅助方法的BETR-GUI显著提升了用户在机器人编程任务中的表现；且人类使用完整版BETR-GUI的效果优于仅依赖AI助手的情况。
原文摘要 · Abstract (English)
The possibility to create reactive robot programs faster without the need for extensively trained programmers is becoming increasingly important. So far, it has not been explored how various techniques for creating Behavior Tree (BT) program representations could be combined with complete graphical user interfaces (GUIs) to allow a human user to validate and edit trees suggested by automated methods. In this paper, we introduce BEhavior TRee GUI (BETR-GUI) for creating BTs with the help of an AI assistant that combines methods using large language models, planning, genetic programming, and Bayesian optimization with a drag-and-drop editor. A user study with 60 participants shows that by combining different assistive methods, BETR-GUI enables users to perform better at solving the robot programming tasks. The results also show that humans using the full variant of BETR-GUI perform better than the AI assistant running on its own.
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