相关论文: Mapping Instructions to Actions in 3D Environments…
We propose to directly map raw visual observations and text input to actions for instruction execution. While existing approaches assume access to structured environment representations or use a pipeline of separately trained models, we…
Learning new skills by observing humans' behaviors is an essential capability of AI. In this work, we leverage instructional videos to study humans' decision-making processes, focusing on learning a model to plan goal-directed actions in…
Our goal is to enable a robot to learn how to sequence its actions to perform tasks specified as natural language instructions, given successful demonstrations from a human partner. The ability to plan high-level tasks can be factored as…
While traditional methods for instruction-following typically assume prior linguistic and perceptual knowledge, many recent works in reinforcement learning (RL) have proposed learning policies end-to-end, typically by training neural…
The effective communication of procedural knowledge remains a significant challenge in natural language processing (NLP), as purely textual instructions often fail to convey complex physical actions and spatial relationships. We address…
Meta-learning has emerged as an efficient approach for constructing target models based on support sets. For example, the meta-learned embeddings enable the construction of target nearest-neighbor classifiers for specific tasks by pulling…
The adoption of pre-trained language models to generate action plans for embodied agents is a promising research strategy. However, execution of instructions in real or simulated environments requires verification of the feasibility of…
To perform tasks specified by natural language instructions, autonomous agents need to extract semantically meaningful representations of language and map it to visual elements and actions in the environment. This problem is called…
In the Vision-and-Language Navigation (VLN) task an embodied agent navigates a 3D environment, following natural language instructions. A challenge in this task is how to handle 'off the path' scenarios where an agent veers from a reference…
Cognitive planning is the structural decomposition of complex tasks into a sequence of future behaviors. In the computational setting, performing cognitive planning entails grounding plans and concepts in one or more modalities in order to…
This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…
The tracking-by-detection framework requires a set of positive and negative training samples to learn robust tracking models for precise localization of target objects. However, existing tracking models mostly treat different samples…
Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…
To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment. Large pre-trained models have shown capabilities to…
The field of motion prediction for automated driving has seen tremendous progress recently, bearing ever-more mighty neural network architectures. Leveraging these powerful models bears great potential for the closely related planning task.…
Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…
We study the problem of translating an image-based, step-by-step assembly manual created by human designers into machine-interpretable instructions. We formulate this problem as a sequential prediction task: at each step, our model reads…
As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…
One of the fundamental goals of visual perception is to allow agents to meaningfully interact with their environment. In this paper, we take a step towards that long-term goal -- we extract highly localized actionable information related to…
We study the task of language instruction-guided robotic manipulation, in which an embodied robot is supposed to manipulate the target objects based on the language instructions. In previous studies, the predicted manipulation regions of…