Researchers from the JSK Robotics Laboratory at the University of Tokyo have developed an AI-powered robot cooking system capable of frying an egg using a recipe. Put simply, a recipe description is first inputted into the system and then converted into the function sequence by a Large Language Model (LLM).
The executable action procedure is planned by classical planning of PDDL description from the sequence. Once this is complete, the robot performs cooking actions while recognizing the state change of the ingredients by food state recognition learning from small data using the Vision-Language Model (VLM). All of the movements that you see are performed using predefined action trajectories.
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We succeeded in experiments in which PR2, a dual-armed wheeled robot, performed cooking from arranged new recipes in a real-world environment, and confirmed the effectiveness of the proposed system,” said the researchers.
