OVITA: Open-Vocabulary Interpretable Trajectory Adaptations

Adapting trajectories to dynamic situations and user preferences is crucial for robot operation in unstructured environments with non-expert users. Natural language enables users to express these adjustments in an interactive manner. We introduce OVITA, an interpretable, open-vocabulary, language-dr...

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Vydáno v:IEEE robotics and automation letters Ročník 10; číslo 11; s. 11054 - 11061
Hlavní autoři: Maurya, Anurag, Ghosh, Tashmoy, Nguyen, Anh, Prakash, Ravi
Médium: Journal Article
Jazyk:angličtina
Vydáno: Piscataway IEEE 01.11.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
big data in robotics and automation
Codes
Dynamics
Grounding
human-robot collaboration
Large language models
Motion and path planning
Motion planning
Planning
Robot arms
Robot sensing systems
Robots
Service robots
Training
Trajectories
Trajectory
Translation
ISSN:2377-3766, 2377-3766
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Shrnutí:Adapting trajectories to dynamic situations and user preferences is crucial for robot operation in unstructured environments with non-expert users. Natural language enables users to express these adjustments in an interactive manner. We introduce OVITA, an interpretable, open-vocabulary, language-driven framework designed for adapting robot trajectories in dynamic and novel situations based on human instructions. OVITA leverages multiple pre-trained Large Language Models (LLMs) to integrate user commands into trajectories generated by motion planners or those learned through demonstrations. OVITA employs code as an adaptation policy generated by an LLM, enabling users to adjust individual waypoints, thus providing flexible control. Another LLM, which acts as a code explainer, removes the need for expert users, enabling intuitive interactions. The efficacy and significance of the proposed OVITA framework is demonstrated through extensive simulations and real-world environments with diverse tasks involving spatiotemporal variations on heterogeneous robotic platforms such as a KUKA IIWA robot manipulator, Clearpath Jackal ground robot, and CrazyFlie drone.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2025.3606309