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arXiv · 2010.12764

Modular Networks for Compositional Instruction Following

Rodolfo Corona·Daniel Fried·Coline Devin·Dan Klein·Trevor Darrell
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Abstract

Standard architectures used in instruction following often struggle on novel compositions of subgoals (e.g. navigating to landmarks or picking up objects) observed during training. We propose a modular architecture for following natural language instructions that describe sequences of diverse subgoals. In our approach, subgoal modules each carry out natural language instructions for a specific subgoal type. A sequence of modules to execute is chosen by learning to segment the instructions and predicting a subgoal type for each segment. When compared to standard, non-modular sequence-to-sequence approaches on ALFRED, a challenging instruction following benchmark, we find that modularization improves generalization to novel subgoal compositions, as well as to environments unseen in training.

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Rodolfo Corona, Daniel Fried, Coline Devin, Dan Klein, Trevor Darrell. 2020-10-24. Modular Networks for Compositional Instruction Following. https://arxiv.org/abs/2010.12764

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