Defining and Monitoring Complex Robot Activities via LLMs and Symbolic Reasoning

摘要

Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and agricultural settings. A key characteristic of these contexts is that activities are not predefined: while they involve a limited set of possible tasks, their combinations may vary depending on the situation. Moreover, despite recent advances in robotics, the ability for humans to monitor the progress of high-level activities - in terms of past, present, and future actions - remains fundamental to ensure the correct execution of safety-critical processes. In this paper, we introduce a general architecture that integrates Large Language Models (LLMs) with automated planning, enabling humans to specify high-level activities (also referred to as processes) using natural language, and to monitor their execution by querying a robot. We also present an implementation of this architecture using state-of-the-art components and quantitatively evaluate the approach in a real-world precision agriculture scenario.