More Like this

1. Robot Behavior-Tree Task Generation with Large Language Models

   Cao, Yue ; Lee, C.S. George ( March 2023 , CEUR workshop proceedings)

   Nowadays, the behavior tree is gaining popularity as a representation for robot tasks due to its modularity and reusability. Designing behavior-tree tasks manually is a time-consuming work for robot end- users, thus suggests a need for automatic behavior-tree task generation. Prior behavior-tree generation approaches focus on fixed primitive tasks and lack generalizability to new task domains. To cope with this issue, we propose a novel behavior-tree task generation approach with state-of-the-art large language models. We present a Phase-Step prompt design that enables hierarchical-structured robot task generation. We further integrate with behavior-tree-embedding-based search to set up the appropriate prompt. In such way, we enable automatic and cross-domain behavior-tree task generation. Our task generation approach does not require a set of pre-defined primitive tasks. End-user only needs to describe an abstract desired task and our approach can swiftly generate the corresponding behavior tree. Case studies are provided to demonstrate our approach. 

   more » « less
2. Robot Behavior-Tree-Based Task Generation with Large Language Models

   Cao, Yue ; Lee, C.S. George ( March 2023 , Proceedings of the AAAI 2023 Spring Symposium on Challenges Requiring the Combination of Machine Learning and Knowledge Engineering)

   Martin, A ; Hinkelmann, K ; Fill, H ; Gerber, A ; Lenat, D. ; Stolle, R. ; van Harmelen, F (Ed.)

   Nowadays, the behavior tree is gaining popularity as a representation for robot tasks due to its modularity and reusability. Designing behavior-tree tasks manually is time-consuming for robot end-users, thus there is a need for investigating automatic behavior-tree-based task generation. Prior behavior-tree- based task generation approaches focus on fixed primitive tasks and lack generalizability to new task domains. To cope with this issue, we propose a novel behavior-tree-based task generation approach that utilizes state-of-the-art large language models. We propose a Phase-Step prompt design that enables a hierarchical-structured robot task generation and further integrate it with behavior-tree-embedding- based search to set up the appropriate prompt. In this way, we enable an automatic and cross-domain behavior-tree task generation. Our behavior-tree-based task generation approach does not require a set of pre-defined primitive tasks. End-users only need to describe an abstract desired task and our proposed approach can swiftly generate the corresponding behavior tree. A full-process case study is provided to demonstrate our proposed approach. An ablation study is conducted to evaluate the effectiveness of our Phase-Step prompts. Assessment on Phase-Step prompts and the limitation of large language models are presented and discussed. 

   more » « less
3. Robot Behavior-Tree-Based Task Generation with Large Language Models

   Cao, Yue ; Lee, C.S. George ( March 2023 , CEUR workshop proceedings)

   Nowadays, the behavior tree is gaining popularity as a representation for robot tasks due to its modularity and reusability. Designing behavior-tree tasks manually is time-consuming for robot end-users, thus there is a need for investigating automatic behavior-tree-based task generation. Prior behavior-tree- based task generation approaches focus on fixed primitive tasks and lack generalizability to new task domains. To cope with this issue, we propose a novel behavior-tree-based task generation approach that utilizes state-of-the-art large language models. We propose a Phase-Step prompt design that enables a hierarchical-structured robot task generation and further integrate it with behavior-tree-embedding- based search to set up the appropriate prompt. In this way, we enable an automatic and cross-domain behavior-tree task generation. Our behavior-tree-based task generation approach does not require a set of pre-defined primitive tasks. End-users only need to describe an abstract desired task and our proposed approach can swiftly generate the corresponding behavior tree. A full-process case study is provided to demonstrate our proposed approach. An ablation study is conducted to evaluate the effectiveness of our Phase-Step prompts. Assessment on Phase-Step prompts and the limitation of large language models are presented and discussed. 

   more » « less
4. Parsing Meaning Representations: is Easier Always Better?

   Li, Zi ; Xue, Nianwen ( July 2019 , Proceedings of the First International Workshop on Designing Meaning Representations)

   The parsing accuracy varies a great deal for different meaning representations. In this paper, we compare the parsing performances between Abstract Meaning Representation (AMR) and Minimal Recursion Semantics (MRS), and provide an in-depth analysis of what factors contributed to the discrepancy in their parsing accuracy. By crystalizing the trade-off between representation expressiveness and ease of automatic parsing, we hope our results can help inform the design of the next-generation meaning representations. 

   more » « less
5. FALTE: A Toolkit for Fine-grained Annotation for Long Text Evaluation

   Goyal, Tanya ; Li, Junyi Jessy ; Durrett, Greg ( December 2022 , Proceedings of the 2022 Conference on Empirical Methods in Natural Language Processing: System Demonstrations)

   A growing swath of NLP research is tackling problems related to generating long text, including tasks such as open-ended story generation, summarization, dialogue, and more. However, we currently lack appropriate tools to evaluate these long outputs of generation models: classic automatic metrics such as ROUGE have been shown to perform poorly, and newer learned metrics do not necessarily work well for all tasks and domains of text. Human rating and error analysis remains a crucial component for any evaluation of long text generation. In this paper, we introduce FALTE, a web-based annotation toolkit designed to address this shortcoming. Our tool allows researchers to collect fine-grained judgments of text quality from crowdworkers using an error taxonomy specific to the downstream task. Using the task interface, annotators can select and assign error labels to text span selections in an incremental paragraph-level annotation workflow. The latter functionality is designed to simplify the document-level task into smaller units and reduce cognitive load on the annotators. Our tool has previously been used to run a large-scale annotation study that evaluates the coherence of long generated summaries, demonstrating its utility. 

   more » « less