From Woofs to Words: Towards Intelligent Robotic Guide Dogs with Verbal Communication

摘要

Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot for assisting visually impaired people in obstacle avoidance and navigation. Enabling language capabilities on robotic guide dogs goes beyond naively adding an existing dialog system onto a mobile robot. The novel challenges include grounding language to the dynamically changing environment and improving spatial awareness for the human handler. To address those challenges, we develop a novel dialog system for robotic guide dogs that uses large language models to verbalize both navigational plans and scenes. The goal is to enable verbal communication for collaborative decision-making within the handler-robot team. In experiments, we performed a human study to evaluate different verbalization strategies, and a simulation study to evaluate the efficiency and accuracy in navigation tasks.