Papers › MCCoder: Streamlining Motion Control with LLM-Assisted Code Generation and Rigorous...

MCCoder: Streamlining Motion Control with LLM-Assisted Code Generation and Rigorous Verification

19 Oct 2024arXiv:2410.15154archive 2025-07-28

Yin Li, Liangwei Wang, Shiyuan Piao, Boo-Ho Yang, Ziyue Li, Wei Zeng, Fugee Tsung

Large Language Models (LLMs) have shown considerable promise in code generation. However, the automation sector, especially in motion control, continues to rely heavily on manual programming due to the complexity of tasks and critical safety considerations. In this domain, incorrect code execution can pose risks to both machinery and personnel, necessitating specialized expertise. To address these challenges, we introduce MCCoder, an LLM-powered system designed to generate code that addresses complex motion control tasks, with integrated soft-motion data verification. MCCoder enhances code generation through multitask decomposition, hybrid retrieval-augmented generation (RAG), and self-correction with a private motion library. Moreover, it supports data verification by logging detailed trajectory data and providing simulations and plots, allowing users to assess the accuracy of the generated code and bolstering confidence in LLM-based programming. To ensure robust validation, we propose MCEVAL, an evaluation dataset with metrics tailored to motion control tasks of varying difficulties. Experiments indicate that MCCoder improves performance by 11.61% overall and by 66.12% on complex tasks in MCEVAL dataset compared with base models with naive RAG. This system and dataset aim to facilitate the application of code generation in automation settings with strict safety requirements. MCCoder is publicly available at https://github.com/MCCodeAI/MCCoder.

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Code Generation RAG Retrieval-augmented Generation

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Adam Attention Attention Dropout BART BASE BERT BPE Dense Connections Dropout Layer Normalization Linear Layer Linear Warmup With Linear Decay Multi-Head Attention RAG Residual Connection Softmax Weight Decay WordPiece

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