Domain-Specific Fine-Tuning of Large Language Models for Interactive Robot Programming

Benjamin Alt, Urs Keßner, Aleksandar Taranovic, Darko Katic, Andreas Hermann, Rainer Jäkel, Gerhard Neumann

Abstract: Industrial robots are applied in a widening range of industries, but robot programming mostly remains a task limited to programming experts. We propose a natural language-based assistant for programming of advanced, industrial robotic applications and investigate strategies for domain-specific fine-tuning of foundation models with limited data and compute.