Incremental Learning of Humanoid Robot Behavior from Natural Interaction and Large Language Models

Natural-language dialog is key for intuitive human-robot interaction. It can be used not only to express humans' intents, but also to communicate instructions for improvement if a robot does not understand a command correctly. Of great importance is to endow robots with the ability to learn from such interaction experience in an incremental way to allow them to improve their behaviors or avoid mistakes in the future. In this paper, we propose a system to achieve incremental learning of complex behavior from natural interaction, and demonstrate its implementation on a humanoid robot. Building on recent advances, we present a system that deploys Large Language Models (LLMs) for high-level orchestration of the robot's behavior, based on the idea of enabling the LLM to generate Python statements in an interactive console to invoke both robot perception and action. The interaction loop is closed by feeding back human instructions, environment observations, and execution results to the LLM, thus informing the generation of the next statement. Specifically, we introduce incremental prompt learning, which enables the system to interactively learn from its mistakes. For that purpose, the LLM can call another LLM responsible for code-level improvements of the current interaction based on human feedback. The improved interaction is then saved in the robot's memory, and thus retrieved on similar requests. We integrate the system in the robot cognitive architecture of the humanoid robot ARMAR-6 and evaluate our methods both quantitatively (in simulation) and qualitatively (in simulation and real-world) by demonstrating generalized incrementally-learned knowledge.

Plug the Leaks: Advancing Audio-driven Talking Face Generation by Preventing Unintended Information Flow

Audio-driven talking face generation is the task of creating a lip-synchronized, realistic face video from given audio and reference frames. This involves two major challenges: overall visual quality of generated images on the one hand, and audio-visual synchronization of the mouth part on the other hand. In this paper, we start by identifying several problematic aspects of synchronization methods in recent audio-driven talking face generation approaches. Specifically, this involves unintended flow of lip and pose information from the reference to the generated image, as well as instabilities during model training. Subsequently, we propose various techniques for obviating these issues: First, a silent-lip reference image generator prevents leaking of lips from the reference to the generated image. Second, an adaptive triplet loss handles the pose leaking problem. Finally, we propose a stabilized formulation of synchronization loss, circumventing aforementioned training instabilities while additionally further alleviating the lip leaking issue. Combining the individual improvements, we present state-of-the art performance on LRS2 and LRW in both synchronization and visual quality. We further validate our design in various ablation experiments, confirming the individual contributions as well as their complementary effects.