対話こそが鍵？ロボットの指示理解と実行能力に関する研究
Interaction is all You Need? A Study of Robots Ability to Understand and Execute
対話履歴からロボットの行動を実行するEDHタスクにマルチトランスフォーマーとBARTを適用し、ベースラインを上回る性能を達成するとともに、個別行動ではなくゲームプランを予測する新タスクを提案した。
著者: Kushal Koshti, Nidhir Bhavsar
分類: cs.RO, cs.AI, cs.CL, cs.CV
原文アブストラクト
This paper aims to address a critical challenge in robotics, which is enabling them to operate seamlessly in human environments through natural language interactions. Our primary focus is to equip robots with the ability to understand and execute complex instructions in coherent dialogs to facilitate intricate task-solving scenarios. To explore this, we build upon the Execution from Dialog History (EDH) task from the Teach benchmark. We employ a multi-transformer model with BART LM. We observe that our best configuration outperforms the baseline with a success rate score of 8.85 and a goal-conditioned success rate score of 14.02. In addition, we suggest an alternative methodology for completing this task. Moreover, we introduce a new task by expanding the EDH task and making predictions about game plans instead of individual actions. We have evaluated multiple BART models and an LLaMA2 LLM, which has achieved a ROGUE-L score of 46.77 for this task.