LLM-Integrated Robotic Control
Overview
An end-to-end Webots control simulation that turns natural-language food orders into 7-DoF robotic arm motion to prepare the food.
Approach
- Built an LLM-integrated finite state machine that selects ingredients and parameterizes the sequence, timing, and duration of reusable manipulation and cooking behaviors.
- Kept the behaviors modular so one set of primitives can compose many different dishes.
Results
- Demonstrated generalized cooking ability through zero-shot testing on varied order requests and dishes.