Proposition of Affordance-Driven Environment Recognition Framework Using Symbol Networks in Large Language Models

Abstract: In the quest to enable robots to coexist with humans, understanding dynamic situations and selecting appropriate actions based on common sense and affordances are essential. Conventional AI systems face challenges in applying affordance, as it represents implicit knowledge derived from common sense. However, LLMs offer new opportunities due to their ability to process extensive human knowledge. This study proposes a method for automatic affordance acquisition by leveraging LLM outputs. The process involves generating text using LLMs, reconstructing the output into a symbol network using morphological and dependency analysis, and calculating affordances based on network distances. Experiments using ``apple'' as an example demonstrated the method's ability to extract context-dependent affordances with high explainability. The results suggest that the proposed symbol network, reconstructed from LLM outputs, enables robots to interpret affordances effectively, bridging the gap between symbolized data and human-like situational understanding.