Content area

Abstract

Large Language Models (LLMs) are compact representations of all public knowledge of our physical environment and animal and human behaviors. The application of LLMs to robotics may offer a path to highly capable robots that perform well across most human tasks with limited or even zero tuning. Aside from increasingly sophisticated reasoning and task planning, networks of (suitably designed) LLMs offer ease of upgrading capabilities and allow humans to directly observe the robot's thinking. Here we explore the advantages, limitations, and particularities of using LLMs to control physical robots. The basic system consists of four LLMs communicating via a human language data bus implemented via web sockets and ROS2 message passing. Surprisingly, rich robot behaviors and good performance across different tasks could be achieved despite the robot's data fusion cycle running at only 1Hz and the central data bus running at the extremely limited rates of the human brain, of around 40 bits/s. The use of natural language for inter-LLM communication allowed the robot's reasoning and decision making to be directly observed by humans and made it trivial to bias the system's behavior with sets of rules written in plain English. These rules were immutably written into Ethereum, a global, public, and censorship resistant Turing-complete computer. We suggest that by using natural language as the data bus among interacting AIs, and immutable public ledgers to store behavior constraints, it is possible to build robots that combine unexpectedly rich performance, upgradability, and durable alignment with humans.

Details

1009240
Title
A Paragraph is All It Takes: Rich Robot Behaviors from Interacting, Trusted LLMs
Publication title
arXiv.org; Ithaca
Publication year
2024
Publication date
Dec 24, 2024
Section
Computer Science; Electrical Engineering and Systems Science
Publisher
Cornell University Library, arXiv.org
Source
arXiv.org
Place of publication
Ithaca
Country of publication
United States
University/institution
Cornell University Library arXiv.org
e-ISSN
2331-8422
Source type
Working Paper
Language of publication
English
Document type
Working Paper
Publication history
 
 
Online publication date
2024-12-25
Milestone dates
2024-12-24 (Submission v1)
Publication history
 
 
   First posting date
25 Dec 2024
ProQuest document ID
3149109035
Document URL
https://www.proquest.com/working-papers/paragraph-is-all-takes-rich-robot-behaviors/docview/3149109035/se-2?accountid=208611
Full text outside of ProQuest
Copyright
© 2024. This work is published under http://creativecommons.org/licenses/by-nc-nd/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.
Last updated
2024-12-26
Database
ProQuest One Academic