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Multi-modal Interactive Control of Robotic Arm based on Offline Large Language Models

2026-08-08 15:21:57
Hanxiao Chen
arXiv_RO
                     
Abstract

Large Language Models (LLMs) have significantly revolutionized the modern society with numerous advanced interactions between humans and AI agents, whereas the usage of most large language models including ChatGPT are not friendly open-sourced and must require the users paying a lot for such AI services continuously. Therefore, deploying open-sourced large language models on local servers can be considered as an efficient approach to design and implement creative embodied AI algorithms with lower cost and more stable free usage. Inspired by this ordinary motivation, we originally propose and implement the "Socratic Models-ChatGLM", which is a well-performed algorithm for multi-modal interactive control of robotic arm based on offline large language models via the facile PyBullet platform, even presents extraordinary potential to address complicated text-image integrated multi-step long-horizon robotic manipulation tasks.

Abstract (translated)

URL

https://arxiv.org/abs/2608.08183

PDF

https://arxiv.org/pdf/2608.08183.pdf

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