Enabling Waypoint Generation for Collaborative Robots using LLMs and Mixed Reality

Cathy Mengying Fang, Krzysztof Zielinski, Patricia Maes, Joe Paradiso, Bruce Blumberg, Mikkel Baun Kjærgaard

Keywords: collaborative robot, waypoint generation, large language model, mixed reality

Abstract: Programming a robotic is a complex task, as it demands the user to have a good command of specific programming languages and awareness of the robot's physical constraints. We propose a framework that simplifies robot deployment by allowing direct communication using natural language. It uses large language models (LLM) for prompt processing, workspace understanding, and waypoint generation. It also employs Augmented Reality (AR) to provide visual feedback of the planned outcome. We showcase the effectiveness of our framework with a simple pick-and-place task, which we implement on a real robot. Moreover, we present an early concept of expressive robot behavior and skill generation that can be used to communicate with the user and learn new skills (e.g., object grasping)

Submission Number: 9