Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification
Jiayi Pan, Glen Chou, Dmitry Berenson
September, 2022Abstract
Jiayi Pan, Glen Chou, Dmitry Berenson. ICRA 2023.
We present a learning-based approach to translate from natural language commands to LTL specifications with very limited human-labeled training data by leveraging Large Language Models. Our model can translate natural language commands at 75% accuracy with about 12 annotations and when given full training data, achieves state-of-the-art performance. We also show how its outputs can be used to plan long-horizon, multi-stage tasks on a 12D quadrotor.
Publication
International Conference on Robotics and Automation (ICRA) 2023