The possibility to create reactive robot programs faster without the need for extensively trained programmers is becoming increasingly important. So far, it has not been explored how various techniques for creating Behavior Tree (BT) program representations could be combined with complete graphical user interfaces (GUIs) to allow a human user to validate and edit trees suggested by automated methods. In this paper, we introduce BEhavior TRee GUI (BETR-GUI) for creating BTs with the help of an AI assistant that combines methods using large language models, planning, genetic programming, and Bayesian optimization with a drag-and-drop editor. A user study with 60 participants shows that by combining different assistive methods, BETR-GUI enables users to perform better at solving the robot programming tasks. The results also show that humans using the full variant of BETR-GUI perform better than the AI assistant running on its own.

翻译：无需经过大量训练的程序员即可快速创建响应式机器人程序的可能性正变得日益重要。迄今为止，如何将创建行为树（BT）程序表示的各种技术与完整的图形用户界面（GUI）相结合，以允许用户验证和编辑自动化方法建议的树结构，尚未得到充分探索。本文介绍了行为树图形用户界面（BETR-GUI），该系统借助结合了大型语言模型、规划、遗传编程和贝叶斯优化方法的AI助手，配合拖放式编辑器来创建行为树。一项包含60名参与者的用户研究表明，通过整合不同的辅助方法，BETR-GUI能够帮助用户更有效地完成机器人编程任务。结果还显示，使用完整版BETR-GUI的人类用户表现优于独立运行的AI助手。