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使用大语言模型
符号任务计划是一种广泛使用的方法来强制机器人自主权，因为它易于理解和部署工程机器人体系结构。然而，符号任务计划的技术很难在现实世界中进行扩展，高度动态的人类机器人协作场景，因为在计划域中的性能不佳，在计划领域的效果不佳，在这种情况下可能不会立即进行效应，或者由于机器人工作空间中的情况而发生了频繁的重新计划。长期，计划长度和计划时间的计划有效性可能会阻碍机器人的效率，并对整体人类机器人互动的影响产生负面影响。我们提出了一个框架，我们将其称为Teriyaki，旨在弥合符号任务计划和机器学习方法之间的差距。基本原理是培训大型语言模型（LLM），即GPT-3，将与计划域定义语言（PDDL）兼容的神经成像任务计划师，然后利用其生成能力克服象征性任务计划固有的许多限制。潜在的好处包括（i）在计划领域的复杂性增加的情况下，可以更好地可伸缩性，因为LLMS的响应时间与输入和输出的总长度线性扩展，而不是超线性，而不是像符号任务计划者那样超线性，而在符号任务计划中，以及（ii）的行动，而不是依次实现行动，而不是依次进行动作，那么就可以实现行动，而不是依次进行动作，而不是依次实现。为了使整个计划可用，这又可以同时进行计划和执行。在过去的一年中，研究界致力于评估LLMS的整体认知能力，并取得了替代成功。取而代之的是，使用Teriyaki，我们的目标是提供与特定计划域中传统规划师相当的整体计划绩效，同时利用其他指标的LLMS功能，特别是与其短期和中期生成能力相关的指标，这些能力用于建立一个构建观察性预测性计划模型。选定域中的初步结果表明我们的方法可以：（i）在1,000个样本的测试数据集中解决95.5％的问题； （ii）与传统象征计划者相比，生产计划短多达13.5％； （iii）将计划可用性的总体等待时间减少高达61.4％。
新营业执照清单 - 温哥华，01-2024
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