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LLM-Driven Approach for Motion Control in Human-Robot Dialogue for Elevating Engagement
No full textNon-verbal behaviors, such as body movements, play a crucial role in enhancing a robot’s speech to elevate engagement in human-robot dialogue. Many existing approach based on rules offered natural and engaging motions aligned with the robot’s utterances but required significant resources to maintain. Recent methods leveraging large language models (LLMs) offer a promising alternative to reduce these costs. However, there is a trade-off between flexibility and safety when determining whether the language model should generate motions based on joint angle parameters or action primitives. In this study, we evaluated two LLM-based motion control models: one for motion generation based on joint angle parameters (LLM-GJA) and the other for motion generation based on primitive actions (LLM-GPA). Our human evaluations indicated that directly generating joint angles outperformed generating action primitives in naturalness, timing consistency, and overall engagement, even achieving performance comparable to rule-based systems. This work highlights the potential of LLMs in generating expressive and contextually appropriate robot motions at the joint angle level.conference pape
An Amphiphilic Pentaaryl Cyclopentadienyl Ruthenium(II) Molecular Rotor with a Luminescent Tag
Get PDFThis study presents a chemically modified molecular motor designed for interactions with lipid bilayers. By incorporating long alkyl chains into the anchoring fragment and a rhodamine luminescent tag onto the rotating subunit, we aimed to monitor the position of the motor and to permit its real-time visualization during membrane-perforation experiments. The synthesis of the functionalized tripodal ligand involved a seven-step process, culminating in the formation of a piano-stool Ru(II) complex that exhibits distinctive spectroscopic properties. The luminescence of the rhodamine tag, although slightly quenched upon incorporation in the Ru(II) complex, remains sufficiently strong to permit single-molecule observation using a total-internal-reflection fluorescence microscope.journal articl
アンゼンナ ジドウ ソシキ ニンショウ ニ ムケタ キゲンツキ VC トークン オ カツヨウスル カクチョウ ACME プロトコル
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Do LLMs Implicitly Determine the Suitable Text Difficulty for Users?
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IC ノ ニュウシュツリョク カイロ カラノ バックスキャッタ オ モチイタ リサイクル IC ケンシュツ ノ コウソクカ ニ カンスル ケンキュウ
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キンセイ キンダイ ゲンダイ ニホンゴ テキスト ニ タイスル バショ サンショウ ヒョウゲン チュウシュツ ニ オケル ゲンゴ モデル ノ ヒョウカ
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リアルタイム コウスイ ヨソク ノ タメ ノ キカヘンカンバ ニ ヨル キュウメンジョウ デノ クモ ノ ナガレ ノ スイテイ
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