LEMMA: Learning Language-Conditioned Multi-Robot Manipulation

Understand

Complex manipulation tasks often require robots with complementary capabilities to collaborate.

• We introduce a benchmark for LanguagE-Conditioned Multi-robot MAnipulation (LEMMA) focused on task allocation and long-horizon object manipulation based on human language instructions in a tabletop setting.
• LEMMA features 8 types of procedurally generated tasks with varying degree of complexity, some of which require the robots to use tools and pass tools to each other.
• For each task, we provide 800 expert demonstrations and human instructions for training and evaluations.