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arXiv · 2311.07150

Interaction is all You Need? A Study of Robots Ability to Understand and Execute

Kushal Koshti·Nidhir Bhavsar
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Abstract

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.

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Kushal Koshti, Nidhir Bhavsar. 2023-11-13. Interaction is all You Need? A Study of Robots Ability to Understand and Execute. https://arxiv.org/abs/2311.07150

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