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This study focuses on using large language models (LLMs) as a planner for embodied agents that can follow natural language instructions to complete complex tasks in a visually-perceived environment.
Between mdps and semi-mdps: A framework for temporal abstraction in reinforcement learning
Richard S Sutton, Doina Precup, and Satinder Singh · 1999
Earlier work this paper cites.
Vision for mobile robot navigation: a survey
G.N. Desouza and A.C. Kak · 2002
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AI2-THOR: An Interactive 3D Environment for Visual AI
Eric Kolve, Roozbeh Mottaghi, Winson Han, Eli VanderBilt, Luca Weihs, Alvaro Herrasti, Daniel Gordon, Yuke Zhu, Abhinav Gupta, and Ali Farhadi · 2017
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Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments
Peter Anderson, Qi Wu, Damien Teney, Jake Bruce, Mark Johnson, Niko Sunderhauf, Ian Reid, Stephen Gould, and Anton Van Den Hengel · 2018
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Speaker-follower models for vision-and-language navigation
Daniel Fried, Ronghang Hu, Volkan Cirik, Anna Rohrbach, Jacob Andreas, Louis-Philippe Morency, Taylor Berg-Kirkpatrick, Kate Saenko, Dan Klein, and Trevor Darrell · 2018
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Virtualhome: Simulating household activities via programs
Xavier Puig, Kevin Ra, Marko Boben, Jiaman Li, Tingwu Wang, Sanja Fidler, and Antonio Torralba · 2018
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BERT: pre-training of deep bidirectional transformers for language understanding
Jacob Devlin, Ming-Wei Chang, Kenton Lee, and Kristina Toutanova · 2019
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Robust navigation with language pretraining and stochastic sampling
Xiujun Li, Chunyuan Li, Qiaolin Xia, Yonatan Bisk, Asli Celikyilmaz, Jianfeng Gao, Noah A. Smith, and Yejin Choi · 2019
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Roberta: A robustly optimized bert pretraining approach, 2019
Yinhan Liu, Myle Ott, Naman Goyal, Jingfei Du, Mandar Joshi, Danqi Chen, Omer Levy, Mike Lewis, Luke Zettlemoyer, and Veselin Stoyanov · 2019
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Vilbert: Pretraining task-agnostic visiolinguistic representations for vision-and-language tasks
Jiasen Lu, Dhruv Batra, Devi Parikh, and Stefan Lee · 2019
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Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, Sandhini Agarwal, Ariel Herbert-Voss, Gretchen Krueger, Tom Henighan, Rewon Child, Aditya Ramesh, Daniel Ziegler, Jeffrey Wu, Clemens Winter, Chris Hesse, Mark Chen, Eric Sigler, Mateusz Litwin, Scott Gray, Benjamin Chess, Jack Clark, Christopher Berner, Sam McCandlish, Alec Radford, Ilya Sutskever, and Dario Amodei · 2020
Earlier work this paper cites.
Room-Across-Room: Multilingual vision-and-language navigation with dense spatiotemporal grounding
Alexander Ku, Peter Anderson, Roma Patel, Eugene Ie, and Jason Baldridge · 2020
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Improving vision-and-language navigation with image-text pairs from the web
Arjun Majumdar, Ayush Shrivastava, Stefan Lee, Peter Anderson, Devi Parikh, and Dhruv Batra · 2020
Earlier work this paper cites.
Exploring the limits of transfer learning with a unified text-to-text transformer
Colin Raffel, Noam Shazeer, Adam Roberts, Katherine Lee, Sharan Narang, Michael Matena, Yanqi Zhou, Wei Li, and Peter J. Liu · 2020
Cited alongside, same era.
ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks
Mohit Shridhar, Jesse Thomason, Daniel Gordon, Yonatan Bisk, Winson Han, Roozbeh Mottaghi, Luke Zettlemoyer, and Dieter Fox · 2020
Cited alongside, same era.
Transformers: State-of-the-art natural language processing
Thomas Wolf, Lysandre Debut, Victor Sanh, Julien Chaumond, Clement Delangue, Anthony Moi, Pierric Cistac, Tim Rault, Rémi Louf, Morgan Funtowicz, Joe Davison, Sam Shleifer, Patrick von Platen, Clara Ma, Yacine Jernite, Julien Plu, Canwen Xu, Teven Le Scao, Sylvain Gugger, Mariama Drame, Quentin Lhoest, and Alexander M. Rush · 2020
Cited alongside, same era.
Making pre-trained language models better few-shot learners
Tianyu Gao, Adam Fisch, and Danqi Chen · 2021
Cited alongside, same era.
A recurrent vision-and-language bert for navigation
Yicong Hong, Qi Wu, Yuankai Qi, Cristian Rodriguez-Opazo, and Stephen Gould · 2021
Cited alongside, same era.
Language models as zero-shot planners: Extracting actionable knowledge for embodied agents
Wenlong Huang, Pieter Abbeel, Deepak Pathak, and Igor Mordatch · 2022
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Inner monologue: Embodied reasoning through planning with language models
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Noah Brown, Tomas Jackson, Linda Luu, Sergey Levine, Karol Hausman, and Brian Ichter · 2022
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Hao Liu, Yang Liu, Hong He, and Hang Yang · 2022
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What makes good in-context examples for GPT-3?
Jiachang Liu, Dinghan Shen, Yizhe Zhang, Bill Dolan, Lawrence Carin, and Weizhu Chen · 2022
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Episodic Transformer for Vision-and-Language Navigation
Alexander Pashevich, Cordelia Schmid, and Chen Sun · 2021
Cited alongside, same era.
True few-shot learning with language models
Ethan Perez, Douwe Kiela, and Kyunghyun Cho · 2021
Cited alongside, same era.
It’s not just size that matters: Small language models are also few-shot learners
Timo Schick and Hinrich Schütze · 2021
Cited alongside, same era.
Embodied bert: A transformer model for embodied, language-guided visual task completion, 2021
Alessandro Suglia, Qiaozi Gao, Jesse Thomason, Govind Thattai, and Gaurav Sukhatme · 2021
Cited alongside, same era.
Hierarchical task learning from language instructions with unified transformers and self-monitoring
Yichi Zhang and Joyce Chai · 2021
Cited alongside, same era.
A persistent spatial semantic representation for high-level natural language instruction execution
Valts Blukis, Chris Paxton, Dieter Fox, Animesh Garg, and Yoav Artzi · 2022
Cited alongside, same era.
Thinking about gpt-3 in-context learning for biomedical ie? think again
Bernal Jiménez Gutiérrez, Nikolas McNeal, Clay Washington, You Chen, Lang Li, Huan Sun, and Yu Su · 2022
Cited alongside, same era.
Pengfei Liu, Weizhe Yuan, Jinlan Fu, Zhengbao Jiang, Hiroaki Hayashi, and Graham Neubig · 2022
Closest in time.
A planning based neural-symbolic approach for embodied instruction following
Xiaotian Liu, Hector Palacios, and Christian Muise · 2022
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Neuro-symbolic procedural planning with commonsense prompting, 2022
Yujie Lu, Weixi Feng, Wanrong Zhu, Wenda Xu, Xin Eric Wang, Miguel Eckstein, and William Yang Wang · 2022
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FILM: Following instructions in language with modular methods
So Yeon Min, Devendra Singh Chaplot, Pradeep Kumar Ravikumar, Yonatan Bisk, and Ruslan Salakhutdinov · 2022
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Robotic navigation with large pre-trained models of language, vision, and action
Dhruv Shah, Błażej Osiński, Sergey Levine, et al · 2022
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Skill induction and planning with latent language
Pratyusha Sharma, Antonio Torralba, and Jacob Andreas · 2022
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ProgPrompt: Generating situated robot task plans using large language models
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, and Animesh Garg · 2022
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One step at a time: Long-horizon vision-and-language navigation with milestones
Chan Hee Song, Jihyung Kil, Tai-Yu Pan, Brian M. Sadler, Wei-Lun Chao, and Yu Su · 2022
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Jarvis: A neuro-symbolic commonsense reasoning framework for conversational embodied agents
Kai Zheng, KAI-QING Zhou, Jing Gu, Yue Fan, Jialu Wang, Zonglin Li, Xuehai He, and Xin Eric Wang · 2022
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