Abstract:

[Significance] Most current agricultural robots lack the ability to adapt to complex agricultural environments and still have limitations when facing variable, uncertain and unstructured agricultural scenarios. With the acceleration of agricultural intelligent transformation, embodied intelligence, as an intelligent system integrating environment perception, information cognition, autonomous decision-making and action, is giving agricultural robots stronger autonomous perception and complex environment adaptation ability, and becoming an important direction to promote the development of agricultural intelligent robots. In this paper, the technical system and application practice of embodied intelligence is sorted out systematically in the field of agricultural robots, its important value is revealed in improving environmental adaptability, decision-making autonomy and operational flexibility, and theoretical and practical references are provided to promote the development of agricultural robots to a higher level. [Progress] In this paper, firstly, the key supporting technologies of embodied intelligent agricultural robots are systematically sort out, focusing on four aspects, namely, multimodal fusion perception, intelligent autonomous decision-making, autonomous action control and feedback autonomous learning. In terms of multimodal fusion perception, the modular AI algorithm architecture and multimodal large model architecture are summarised. In terms of intelligent autonomous decision-making, two types of approaches based on artificial programming and dedicated task algorithms, and on large-scale pre-trained models are outlined. In terms of autonomous action control, three types of approaches based on the fusion of reinforcement learning and mainstream transformer, large model-assisted reinforcement learning, end-to-end mapping of semantics to action and action end-to-end mapping are summarised. In the area of feedback autonomous learning, the focus is on the related technological advances in the evolution of large model-driven feedback modules. Secondly, we analyse the typical application scenarios of embodied intelligence in agriculture, construct a technical framework with "embodied perception - embodied cognition - embodied execution - embodied evolution" as the core, and discuss the implementation paths of each module according to the agricultural scenarios. The paths of each module are classified and discussed. Finally, the key technical bottlenecks and application challenges are analysed in depth, mainly including the high complexity of system integration, the significant gap between real and virtual data, and the limited ability of cross-scene generalisation. [Conclusion and Prospects] The future development trend of embodied intelligent agricultural robots is summarised and prospected from the construction of high-quality datasets and simulation platforms, the application of domain large model fusion, and the design of layered collaborative architectures, etc., which mainly focuses on the following aspects. Firstly, the construction of high-quality agricultural scenarios of embodied intelligence datasets is a key prerequisite to realise the embodied intelligence landing in agriculture. The development of embodied intelligent agricultural robots needs to rely on rich and accurate agricultural scene task datasets and highly realistic simulators to support physical interaction and behavioural learning. Secondly, the fusion of basic big model and agricultural domain model is the accelerator of intelligent perception and decision-making of agricultural robots. The in-depth fusion of general basic models in agricultural scenarios will bring stronger perception, understanding and reasoning capabilities to the body-intelligent agricultural robots. Thirdly, the "big model high-level planning + small model bottom-level control" architecture is an effective solution to balance intelligence and efficiency. Although large models have advantages in semantic understanding and global strategy planning, their reasoning latency and arithmetic demand can hardly meet the real-time and low-power requirements of agricultural robots. The use of large models for high-level task decomposition, scene semantic parsing and decision making, coupled with lightweight small models or traditional control algorithms to complete the underlying sensory response and motion control, can achieve the complementary advantages of the two.

Key words: embodied intelligence, agricultural robotics, embodied perception, embodied cognition, embodied execution, embodied evolution