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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2025
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| Accès en ligne: | https://arxiv.org/abs/2504.15263 |
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| _version_ | 1866915252503838720 |
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| author | Ahmadi, Ehsan Wang, Chao |
| author_facet | Ahmadi, Ehsan Wang, Chao |
| contents | Construction tasks are inherently unpredictable, with dynamic environments and safety-critical demands posing significant risks to workers. Exoskeletons offer potential assistance but falter without accurate intent recognition across diverse locomotion modes. This paper presents a locomotion prediction agent leveraging Large Language Models (LLMs) augmented with memory systems, aimed at improving exoskeleton assistance in such settings. Using multimodal inputs - spoken commands and visual data from smart glasses - the agent integrates a Perception Module, Short-Term Memory (STM), Long-Term Memory (LTM), and Refinement Module to predict locomotion modes effectively. Evaluation reveals a baseline weighted F1-score of 0.73 without memory, rising to 0.81 with STM, and reaching 0.90 with both STM and LTM, excelling with vague and safety-critical commands. Calibration metrics, including a Brier Score drop from 0.244 to 0.090 and ECE from 0.222 to 0.044, affirm improved reliability. This framework supports safer, high-level human-exoskeleton collaboration, with promise for adaptive assistive systems in dynamic industries. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_15263 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Interpretable Locomotion Prediction in Construction Using a Memory-Driven LLM Agent With Chain-of-Thought Reasoning Ahmadi, Ehsan Wang, Chao Robotics Construction tasks are inherently unpredictable, with dynamic environments and safety-critical demands posing significant risks to workers. Exoskeletons offer potential assistance but falter without accurate intent recognition across diverse locomotion modes. This paper presents a locomotion prediction agent leveraging Large Language Models (LLMs) augmented with memory systems, aimed at improving exoskeleton assistance in such settings. Using multimodal inputs - spoken commands and visual data from smart glasses - the agent integrates a Perception Module, Short-Term Memory (STM), Long-Term Memory (LTM), and Refinement Module to predict locomotion modes effectively. Evaluation reveals a baseline weighted F1-score of 0.73 without memory, rising to 0.81 with STM, and reaching 0.90 with both STM and LTM, excelling with vague and safety-critical commands. Calibration metrics, including a Brier Score drop from 0.244 to 0.090 and ECE from 0.222 to 0.044, affirm improved reliability. This framework supports safer, high-level human-exoskeleton collaboration, with promise for adaptive assistive systems in dynamic industries. |
| title | Interpretable Locomotion Prediction in Construction Using a Memory-Driven LLM Agent With Chain-of-Thought Reasoning |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.15263 |