{"id":1180,"date":"2024-12-30T13:18:37","date_gmt":"2024-12-30T05:18:37","guid":{"rendered":"https:\/\/tongjicdi.com\/?p=1180"},"modified":"2025-05-29T21:13:38","modified_gmt":"2025-05-29T13:13:38","slug":"cocobo-exploring-large-language-models-as-the-engine-for-end-user-robot-programming","status":"publish","type":"post","link":"https:\/\/tongjicdi.com\/index.php\/2024\/12\/30\/cocobo-exploring-large-language-models-as-the-engine-for-end-user-robot-programming\/","title":{"rendered":"Cocobo: Exploring Large Language Models as the Engine for End-User Robot Programming"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"1180\" class=\"elementor elementor-1180\" data-elementor-post-type=\"post\">\n\t\t\t\t<div class=\"elementor-element elementor-element-4dff4c92 e-flex e-con-boxed e-con e-parent\" data-id=\"4dff4c92\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-21d9ea18 elementor-widget elementor-widget-theme-post-featured-image elementor-widget-image\" data-id=\"21d9ea18\" data-element_type=\"widget\" data-widget_type=\"theme-post-featured-image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.22.0 - 24-06-2024 *\/\n.elementor-widget-image{text-align:center}.elementor-widget-image a{display:inline-block}.elementor-widget-image a img[src$=\".svg\"]{width:48px}.elementor-widget-image img{vertical-align:middle;display:inline-block}<\/style>\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"800\" height=\"300\" src=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2024\/12\/Cocobo-Large-Language-Models.gif\" class=\"attachment-large size-large wp-image-1308\" alt=\"\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-100470af elementor-widget elementor-widget-theme-post-title elementor-page-title elementor-widget-heading\" data-id=\"100470af\" data-element_type=\"widget\" data-widget_type=\"theme-post-title.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.22.0 - 24-06-2024 *\/\n.elementor-heading-title{padding:0;margin:0;line-height:1}.elementor-widget-heading .elementor-heading-title[class*=elementor-size-]>a{color:inherit;font-size:inherit;line-height:inherit}.elementor-widget-heading .elementor-heading-title.elementor-size-small{font-size:15px}.elementor-widget-heading .elementor-heading-title.elementor-size-medium{font-size:19px}.elementor-widget-heading .elementor-heading-title.elementor-size-large{font-size:29px}.elementor-widget-heading .elementor-heading-title.elementor-size-xl{font-size:39px}.elementor-widget-heading .elementor-heading-title.elementor-size-xxl{font-size:59px}<\/style><h1 class=\"elementor-heading-title elementor-size-default\">Cocobo: Exploring Large Language Models as the Engine for End-User Robot Programming<\/h1>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6572c4a elementor-widget elementor-widget-text-editor\" data-id=\"6572c4a\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.22.0 - 24-06-2024 *\/\n.elementor-widget-text-editor.elementor-drop-cap-view-stacked .elementor-drop-cap{background-color:#69727d;color:#fff}.elementor-widget-text-editor.elementor-drop-cap-view-framed .elementor-drop-cap{color:#69727d;border:3px solid;background-color:transparent}.elementor-widget-text-editor:not(.elementor-drop-cap-view-default) .elementor-drop-cap{margin-top:8px}.elementor-widget-text-editor:not(.elementor-drop-cap-view-default) .elementor-drop-cap-letter{width:1em;height:1em}.elementor-widget-text-editor .elementor-drop-cap{float:left;text-align:center;line-height:1;font-size:50px}.elementor-widget-text-editor .elementor-drop-cap-letter{display:inline-block}<\/style>\t\t\t\t<p>Yate Ge;\u00a0Yi Dai;\u00a0Run Shan;\u00a0Kechun Li;\u00a0Yuanda Hu;\u00a0Xiaohua Sun<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3e939ef6 elementor-widget elementor-widget-text-editor\" data-id=\"3e939ef6\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>2024 IEEE Symposium on Visual Languages and Human-Centric Computing (VL\/HCC)<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-58f1c18f e-flex e-con-boxed e-con e-parent\" data-id=\"58f1c18f\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-3dc88688 elementor-widget elementor-widget-heading\" data-id=\"3dc88688\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u6458\u8981\/Abstract<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-5471e6e3 e-flex e-con-boxed e-con e-parent\" data-id=\"5471e6e3\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t<div class=\"elementor-element elementor-element-36255dd4 e-con-full e-flex e-con e-child\" data-id=\"36255dd4\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-7e7765ad elementor-widget elementor-widget-text-editor\" data-id=\"7e7765ad\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>\u7528\u6237\u7aef\u5f00\u53d1\u5141\u8bb8\u666e\u901a\u7528\u6237\u6839\u636e\u81ea\u5df1\u7684\u9700\u6c42\u5b9a\u5236\u670d\u52a1\u673a\u5668\u4eba\u6216\u5e94\u7528\u7a0b\u5e8f\u3002\u4e00\u79cd\u7528\u6237\u53cb\u597d\u7684\u65b9\u6cd5\u662f\u81ea\u7136\u8bed\u8a00\u7f16\u7a0b\u3002\u7136\u800c\uff0c\u5b83\u9047\u5230\u4e86\u8bf8\u5982\u7528\u6237\u8868\u8fbe\u7a7a\u95f4\u5e9e\u5927\u548c\u8c03\u8bd5\u4e0e\u7f16\u8f91\u652f\u6301\u6709\u9650\u7b49\u6311\u6218\uff0c\u8fd9\u9650\u5236\u4e86\u5176\u5728\u7528\u6237\u7aef\u7f16\u7a0b\u4e2d\u7684\u5e94\u7528\u3002\u5927\u578b\u8bed\u8a00\u6a21\u578b\uff08LLMs\uff09\u7684\u51fa\u73b0\u4e3a\u4eba\u7c7b\u8bed\u8a00\u6307\u4ee4\u4e0e\u673a\u5668\u4eba\u6267\u884c\u7684\u4ee3\u7801\u4e4b\u95f4\u7684\u7ffb\u8bd1\u548c\u89e3\u91ca\u63d0\u4f9b\u4e86\u6709\u5e0c\u671b\u7684\u9014\u5f84\uff0c\u4f46\u5b83\u4eec\u5728\u7528\u6237\u7aef\u7f16\u7a0b\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u9700\u8981\u8fdb\u4e00\u6b65\u7814\u7a76\u3002\u6211\u4eec\u4ecb\u7ecd\u4e86Cocobo\uff0c\u8fd9\u662f\u4e00\u79cd\u7531LLMs\u9a71\u52a8\u7684\u5177\u6709\u4ea4\u4e92\u5f0f\u56fe\u8868\u7684\u81ea\u7136\u8bed\u8a00\u7f16\u7a0b\u7cfb\u7edf\u3002Cocobo\u5229\u7528LLMs\u7406\u89e3\u7528\u6237\u7684\u521b\u4f5c\u610f\u56fe\uff0c\u751f\u6210\u5e76\u89e3\u91ca\u673a\u5668\u4eba\u7a0b\u5e8f\uff0c\u5e76\u4fc3\u8fdb\u53ef\u6267\u884c\u4ee3\u7801\u4e0e\u6d41\u7a0b\u56fe\u8868\u793a\u4e4b\u95f4\u7684\u8f6c\u6362\u3002\u6211\u4eec\u7684\u7528\u6237\u7814\u7a76\u663e\u793a\uff0cCocobo\u5177\u6709\u8f83\u4f4e\u7684\u5b66\u4e60\u66f2\u7ebf\uff0c\u5373\u4f7f\u662f\u6ca1\u6709\u7f16\u7a0b\u7ecf\u9a8c\u7684\u7528\u6237\u4e5f\u80fd\u6210\u529f\u5b9a\u5236\u673a\u5668\u4eba\u7a0b\u5e8f\u3002<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-26d71bdd e-con-full e-flex e-con e-child\" data-id=\"26d71bdd\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-4cb6737e elementor-widget elementor-widget-text-editor\" data-id=\"4cb6737e\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\tEnd-user development allows everyday users to tailor service robots or applications to their needs. One user-friendly approach is natural language programming. However, it encounters challenges such as an expansive user expression space and limited support for debugging and editing, which restrict its application in end-user programming. The emergence of large language models (LLMs) offers promising avenues for the translation and interpretation between human language instructions and the code executed by robots, but their application in end-user programming systems requires further study. We introduce Cocobo, a natural language programming system with interactive diagrams powered by LLMs. Cocobo employs LLMs to understand users\u2019 authoring intentions, generate and explain robot programs, and facilitate the conversion between executable code and flowchart representations. Our user study shows that Cocobo has a low learning curve, enabling even users with zero coding experience to customize robot programs successfully.\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-2155163 e-flex e-con-boxed e-con e-parent\" data-id=\"2155163\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-7d1ca256 elementor-widget elementor-widget-spacer\" data-id=\"7d1ca256\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor - v3.22.0 - 24-06-2024 *\/\n.elementor-column .elementor-spacer-inner{height:var(--spacer-size)}.e-con{--container-widget-width:100%}.e-con-inner>.elementor-widget-spacer,.e-con>.elementor-widget-spacer{width:var(--container-widget-width,var(--spacer-size));--align-self:var(--container-widget-align-self,initial);--flex-shrink:0}.e-con-inner>.elementor-widget-spacer>.elementor-widget-container,.e-con>.elementor-widget-spacer>.elementor-widget-container{height:100%;width:100%}.e-con-inner>.elementor-widget-spacer>.elementor-widget-container>.elementor-spacer,.e-con>.elementor-widget-spacer>.elementor-widget-container>.elementor-spacer{height:100%}.e-con-inner>.elementor-widget-spacer>.elementor-widget-container>.elementor-spacer>.elementor-spacer-inner,.e-con>.elementor-widget-spacer>.elementor-widget-container>.elementor-spacer>.elementor-spacer-inner{height:var(--container-widget-height,var(--spacer-size))}.e-con-inner>.elementor-widget-spacer.elementor-widget-empty,.e-con>.elementor-widget-spacer.elementor-widget-empty{position:relative;min-height:22px;min-width:22px}.e-con-inner>.elementor-widget-spacer.elementor-widget-empty .elementor-widget-empty-icon,.e-con>.elementor-widget-spacer.elementor-widget-empty .elementor-widget-empty-icon{position:absolute;top:0;bottom:0;left:0;right:0;margin:auto;padding:0;width:22px;height:22px}<\/style>\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-3d530fc5 e-flex e-con-boxed e-con e-parent\" data-id=\"3d530fc5\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-2b957dd elementor-widget elementor-widget-heading\" data-id=\"2b957dd\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u76f8\u5173\u4fe1\u606f\/Info<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-ae558a9 e-flex e-con-boxed e-con e-parent\" data-id=\"ae558a9\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t<div class=\"elementor-element elementor-element-6c8e401 e-con-full e-flex e-con e-child\" data-id=\"6c8e401\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-6de1cbcd elementor-widget elementor-widget-heading\" data-id=\"6de1cbcd\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u4f5c\u8005\/Authors<br><\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-22c33053 elementor-widget elementor-widget-heading\" data-id=\"22c33053\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u94fe\u63a5\/Link<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-25ee664b e-con-full e-flex e-con e-child\" data-id=\"25ee664b\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-5868e8ad elementor-widget elementor-widget-text-editor\" data-id=\"5868e8ad\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p data-pm-slice=\"1 1 []\">Yate Ge;\u00a0Yi Dai;\u00a0Run Shan;\u00a0Kechun Li;\u00a0Yuanda Hu;\u00a0Xiaohua Sun<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5c4e1207 elementor-widget elementor-widget-text-editor\" data-id=\"5c4e1207\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<p>https:\/\/ieeexplore.ieee.org\/document\/10714576<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-1a5ff4b8 e-flex e-con-boxed e-con e-parent\" data-id=\"1a5ff4b8\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-73d92945 elementor-widget elementor-widget-spacer\" data-id=\"73d92945\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-4f75ee6d e-flex e-con-boxed e-con e-parent\" data-id=\"4f75ee6d\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-1601ee3d elementor-widget elementor-widget-spacer\" data-id=\"1601ee3d\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-21d2b633 e-flex e-con-boxed e-con e-parent\" data-id=\"21d2b633\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-43f55ad5 elementor-widget elementor-widget-heading\" data-id=\"43f55ad5\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\u56fe\u7247\/Figures<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-5386f980 e-flex e-con-boxed e-con e-parent\" data-id=\"5386f980\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-5a553e45 elementor-widget elementor-widget-gallery\" data-id=\"5a553e45\" data-element_type=\"widget\" data-settings=\"{&quot;gallery_layout&quot;:&quot;masonry&quot;,&quot;columns&quot;:2,&quot;gap&quot;:{&quot;unit&quot;:&quot;px&quot;,&quot;size&quot;:20,&quot;sizes&quot;:[]},&quot;lazyload&quot;:&quot;yes&quot;,&quot;columns_tablet&quot;:2,&quot;columns_mobile&quot;:1,&quot;gap_tablet&quot;:{&quot;unit&quot;:&quot;px&quot;,&quot;size&quot;:10,&quot;sizes&quot;:[]},&quot;gap_mobile&quot;:{&quot;unit&quot;:&quot;px&quot;,&quot;size&quot;:10,&quot;sizes&quot;:[]},&quot;link_to&quot;:&quot;file&quot;,&quot;overlay_background&quot;:&quot;yes&quot;,&quot;content_hover_animation&quot;:&quot;fade-in&quot;}\" data-widget_type=\"gallery.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t<style>\/*! elementor-pro - v3.22.0 - 24-06-2024 *\/\n.elementor-gallery__container{min-height:1px}.elementor-gallery-item{position:relative;overflow:hidden;display:block;text-decoration:none;border:solid var(--image-border-width) var(--image-border-color);border-radius:var(--image-border-radius)}.elementor-gallery-item__content,.elementor-gallery-item__overlay{height:100%;width:100%;position:absolute;top:0;left:0}.elementor-gallery-item__overlay{mix-blend-mode:var(--overlay-mix-blend-mode);transition-duration:var(--overlay-transition-duration);transition-property:mix-blend-mode,transform,opacity,background-color}.elementor-gallery-item__image.e-gallery-image{transition-duration:var(--image-transition-duration);transition-property:filter,transform}.elementor-gallery-item__content{display:flex;flex-direction:column;justify-content:var(--content-justify-content,center);align-items:center;text-align:var(--content-text-align);padding:var(--content-padding)}.elementor-gallery-item__content>div{transition-duration:var(--content-transition-duration)}.elementor-gallery-item__content.elementor-gallery--sequenced-animation>div:nth-child(2){transition-delay:calc(var(--content-transition-delay) \/ 3)}.elementor-gallery-item__content.elementor-gallery--sequenced-animation>div:nth-child(3){transition-delay:calc(var(--content-transition-delay) \/ 3 * 2)}.elementor-gallery-item__content.elementor-gallery--sequenced-animation>div:nth-child(4){transition-delay:calc(var(--content-transition-delay) \/ 3 * 3)}.elementor-gallery-item__description{color:var(--description-text-color,#fff);width:100%}.elementor-gallery-item__title{color:var(--title-text-color,#fff);font-weight:700;width:100%}.elementor-gallery__titles-container{display:flex;flex-wrap:wrap;justify-content:var(--titles-container-justify-content,center);margin-bottom:20px}.elementor-gallery__titles-container:not(.e--pointer-framed) .elementor-item:after,.elementor-gallery__titles-container:not(.e--pointer-framed) .elementor-item:before{background-color:var(--galleries-pointer-bg-color-hover)}.elementor-gallery__titles-container:not(.e--pointer-framed) .elementor-item.elementor-item-active:after,.elementor-gallery__titles-container:not(.e--pointer-framed) .elementor-item.elementor-item-active:before{background-color:var(--galleries-pointer-bg-color-active)}.elementor-gallery__titles-container.e--pointer-framed .elementor-item:before{border-color:var(--galleries-pointer-bg-color-hover);border-width:var(--galleries-pointer-border-width)}.elementor-gallery__titles-container.e--pointer-framed .elementor-item:after{border-color:var(--galleries-pointer-bg-color-hover)}.elementor-gallery__titles-container.e--pointer-framed .elementor-item.elementor-item-active:after,.elementor-gallery__titles-container.e--pointer-framed .elementor-item.elementor-item-active:before{border-color:var(--galleries-pointer-bg-color-active)}.elementor-gallery__titles-container.e--pointer-framed.e--animation-draw .elementor-item:before{border-left-width:var(--galleries-pointer-border-width);border-bottom-width:var(--galleries-pointer-border-width);border-right-width:0;border-top-width:0}.elementor-gallery__titles-container.e--pointer-framed.e--animation-draw .elementor-item:after{border-left-width:0;border-bottom-width:0;border-right-width:var(--galleries-pointer-border-width);border-top-width:var(--galleries-pointer-border-width)}.elementor-gallery__titles-container.e--pointer-framed.e--animation-corners .elementor-item:before{border-left-width:var(--galleries-pointer-border-width);border-bottom-width:0;border-right-width:0;border-top-width:var(--galleries-pointer-border-width)}.elementor-gallery__titles-container.e--pointer-framed.e--animation-corners .elementor-item:after{border-left-width:0;border-bottom-width:var(--galleries-pointer-border-width);border-right-width:var(--galleries-pointer-border-width);border-top-width:0}.elementor-gallery__titles-container .e--pointer-double-line .elementor-item:after,.elementor-gallery__titles-container .e--pointer-double-line .elementor-item:before,.elementor-gallery__titles-container .e--pointer-overline .elementor-item:before,.elementor-gallery__titles-container .e--pointer-underline .elementor-item:after{height:var(--galleries-pointer-border-width)}.elementor-gallery-title{--space-between:10px;cursor:pointer;color:#6d7882;font-weight:500;position:relative;padding:7px 14px;transition:all .3s}.elementor-gallery-title--active{color:#495157}.elementor-gallery-title:not(:last-child){margin-inline-end:var(--space-between)}.elementor-gallery-item__title+.elementor-gallery-item__description{margin-top:var(--description-margin-top)}.e-gallery-item.elementor-gallery-item{transition-property:all}.e-gallery-item.elementor-animated-content .elementor-animated-item--enter-from-bottom,.e-gallery-item.elementor-animated-content .elementor-animated-item--enter-from-left,.e-gallery-item.elementor-animated-content .elementor-animated-item--enter-from-right,.e-gallery-item.elementor-animated-content .elementor-animated-item--enter-from-top,.e-gallery-item:focus .elementor-gallery__item-overlay-bg,.e-gallery-item:focus .elementor-gallery__item-overlay-content,.e-gallery-item:focus .elementor-gallery__item-overlay-content__description,.e-gallery-item:focus .elementor-gallery__item-overlay-content__title,.e-gallery-item:hover .elementor-gallery__item-overlay-bg,.e-gallery-item:hover .elementor-gallery__item-overlay-content,.e-gallery-item:hover .elementor-gallery__item-overlay-content__description,.e-gallery-item:hover .elementor-gallery__item-overlay-content__title{opacity:1}a.elementor-item.elementor-gallery-title{color:var(--galleries-title-color-normal)}a.elementor-item.elementor-gallery-title.elementor-item-active,a.elementor-item.elementor-gallery-title.highlighted,a.elementor-item.elementor-gallery-title:focus,a.elementor-item.elementor-gallery-title:hover{color:var(--galleries-title-color-hover)}a.elementor-item.elementor-gallery-title.elementor-item-active{color:var(--gallery-title-color-active)}.e-con-inner>.elementor-widget-gallery,.e-con>.elementor-widget-gallery{width:var(--container-widget-width);--flex-grow:var(--container-widget-flex-grow)}<\/style>\t\t<div class=\"elementor-gallery__container\">\n\t\t\t\t\t\t\t<a class=\"e-gallery-item elementor-gallery-item elementor-animated-content\" href=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2024\/12\/Cocobo-Large-Language-Models.gif\" data-elementor-open-lightbox=\"no\">\n\t\t\t\t\t<div class=\"e-gallery-image elementor-gallery-item__image\" data-thumbnail=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2024\/12\/Cocobo-Large-Language-Models.gif\" data-width=\"820\" data-height=\"308\" aria-label=\"\" role=\"img\" ><\/div>\n\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-gallery-item__overlay\"><\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t<a class=\"e-gallery-item elementor-gallery-item elementor-animated-content\" href=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Large-Language-Models-3.gif\" data-elementor-open-lightbox=\"no\">\n\t\t\t\t\t<div class=\"e-gallery-image elementor-gallery-item__image\" data-thumbnail=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Large-Language-Models-3.gif\" data-width=\"694\" data-height=\"820\" aria-label=\"\" role=\"img\" ><\/div>\n\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-gallery-item__overlay\"><\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t<a class=\"e-gallery-item elementor-gallery-item elementor-animated-content\" href=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Large-Language-Models-4.gif\" data-elementor-open-lightbox=\"no\">\n\t\t\t\t\t<div class=\"e-gallery-image elementor-gallery-item__image\" data-thumbnail=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Large-Language-Models-4.gif\" data-width=\"820\" data-height=\"310\" aria-label=\"\" role=\"img\" ><\/div>\n\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-gallery-item__overlay\"><\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t<a class=\"e-gallery-item elementor-gallery-item elementor-animated-content\" href=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Robot-Programming.gif\" data-elementor-open-lightbox=\"no\">\n\t\t\t\t\t<div class=\"e-gallery-image elementor-gallery-item__image\" data-thumbnail=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Robot-Programming.gif\" data-width=\"673\" data-height=\"820\" aria-label=\"\" role=\"img\" ><\/div>\n\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-gallery-item__overlay\"><\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t<a class=\"e-gallery-item elementor-gallery-item elementor-animated-content\" href=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Large-Language-Models-2.gif\" data-elementor-open-lightbox=\"no\">\n\t\t\t\t\t<div class=\"e-gallery-image elementor-gallery-item__image\" data-thumbnail=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Large-Language-Models-2.gif\" data-width=\"820\" data-height=\"443\" aria-label=\"\" role=\"img\" ><\/div>\n\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-gallery-item__overlay\"><\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t<a class=\"e-gallery-item elementor-gallery-item elementor-animated-content\" href=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Large-Language-Models-1.gif\" data-elementor-open-lightbox=\"no\">\n\t\t\t\t\t<div class=\"e-gallery-image elementor-gallery-item__image\" data-thumbnail=\"https:\/\/tongjicdi.com\/wp-content\/uploads\/2025\/05\/Cocobo-Large-Language-Models-1.gif\" data-width=\"820\" data-height=\"515\" aria-label=\"\" role=\"img\" ><\/div>\n\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-gallery-item__overlay\"><\/div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>End-user development allows everyday users to tailor service robots or applications to their needs. One user-friendly approach is natural language programming. However, it encounters challenges such as an expansive user expression space and limited support for debugging and editing, which restrict its application in end-user programming. The emergence of large language models (LLMs) offers promising avenues for the translation and interpretation between human language instructions and the code executed by robots, but their application in end-user programming systems requires further study. We introduce Cocobo, a natural language programming system with interactive diagrams powered by LLMs. Cocobo employs LLMs to understand users\u2019 authoring intentions, generate and explain robot programs, and facilitate the conversion between executable code and flowchart representations. Our user study shows that Cocobo has a low learning curve, enabling even users with zero coding experience to customize robot programs successfully.<\/p>\n","protected":false},"author":1,"featured_media":1308,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[28,27],"tags":[],"class_list":["post-1180","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ai","category-hri"],"_links":{"self":[{"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/posts\/1180","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/comments?post=1180"}],"version-history":[{"count":10,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/posts\/1180\/revisions"}],"predecessor-version":[{"id":1337,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/posts\/1180\/revisions\/1337"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/media\/1308"}],"wp:attachment":[{"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/media?parent=1180"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/categories?post=1180"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/tongjicdi.com\/index.php\/wp-json\/wp\/v2\/tags?post=1180"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}