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Language is compositional; an instruction can ex- press multiple relation constraints to hold among objects in a scene that a robot is tasked to rearrange. Our focus in this work is an instructable scene-rearranging framework that gen- eralizes to longer instructions and to spatial concept compositions never seen at training time. We propose to represent language- instructed spatial concepts with energy functions over relative object arrangements. A language parser maps instructions to corresponding energy functions and an open-vocabulary visual- language model grounds their arguments to relevant objects in the scene. We generate goal scene configurations by gradient descent on the sum of energy functions, one per language predi- cate in the instruction. Local vision-based policies then re-locate objects to the inferred goal locations. We test our model on es- tablished instruction-guided manipulation benchmarks, as well as benchmarks of compositional instructions we introduce. We show our model can execute highly compositional instructions zero-shot in simulation and in the real world. It outperforms language- to-action reactive policies and Large Language Model planners by a large margin, especially for long instructions that involve compositions of multiple spatial concepts. Simulation and real- world robot execution videos, as well as our code and datasets are publicly available on our website: https://ebmplanner.github.io.
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Mapping Instructions to Actions in 3D Environments with Visual Goal Prediction
We propose to decompose instruction execution to goal prediction and action generation. We design a model that maps raw visual observations to goals using LINGUNET, a language-conditioned image generation network, and then generates the actions required to complete them. Our model is trained from demonstration only without external resources. To evaluate our approach, we introduce two benchmarks for instruction following: LANI, a navigation task; and CHAI, where an agent executes household instructions. Our evaluation demonstrates the advantages of our model decomposition, and illustrates the challenges posed by our new benchmarks.
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- Award ID(s):
- 1750499
- PAR ID:
- 10087772
- Date Published:
- Journal Name:
- Proceedings of the 2018 Conference on Empirical Methods in Natural Language Processing
- Page Range / eLocation ID:
- 2667-2678
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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