Precise Robot Command Understanding Using Grammar-Constrained Large Language Models
Human-robot collaboration in industrial settings requires precise and reliable communication to enhance operational efficiency. While Large Language Models (LLMs) understand general language, they often lack the domain-specific rigidity needed for safe and executable industrial commands. To address this gap, this paper introduces a novel grammar-constrained LLM that integrates a grammar-driven Natural Language Understanding (NLU) system with a fine-tuned LLM, which enables both conversational flexibility and the deterministic precision required in robotics. Our method employs a two-stage process. First, a fine-tuned LLM performs high-level contextual reasoning and parameter inference on n...
| Authors | Xinyun Huo, Raghav Gnanasambandam, Xinyao Zhang |
|---|---|
| Primary category | cs.RO |
| Published | 5 April 2026 |
| Last updated at source | 5 April 2026 |
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