让导盲机器人能用语言描述环境和导航计划，提升视障用户协作体验。
From Woofs to Words: Towards Intelligent Robotic Guide Dogs with Verbal Communication
- 用大模型将导航路径和场景转化为自然语言描述
- 人机协作中语言沟通显著提升导航准确率与信心
- 适合研究人机协同、无障碍辅助机器人的人士
辅助机器人是关注残障人士福祉的重要机器人子领域。机器人导盲犬是一种四足助行机器人，可帮助视障者避障与导航。为机器人导盲犬赋予语言能力，不仅是在移动机器人上简单添加现有对话系统。其新挑战在于将语言与动态变化的环境进行语义关联，并增强对人类使用者的空间感知能力。为此，我们开发了一种新型对话系统，利用大语言模型（LLMs）对导航计划和环境场景进行语言化表达，目标是实现人-机团队间基于语言的协同决策。实验中，我们通过一项人类研究评估了不同语言化策略的效果，并在模拟环境中测试导航任务中的效率与准确性。
原文摘要 · Abstract (English)
Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation. Enabling language capabilities for robotic guide dogs goes beyond naively adding an existing dialog system onto a mobile robot. The novel challenges include grounding language in the dynamically changing environment and improving spatial awareness for the human handler. To address those challenges, we develop a novel dialog system for robotic guide dogs that uses LLMs to verbalize both navigational plans and scenes. The goal is to enable verbal communication for collaborative decision-making within the handler-robot team. In experiments, we conducted a human study to evaluate different verbalization strategies and a simulation study to assess the efficiency and accuracy in navigation tasks.
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