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The ability of Language Models (LMs) to understand natural language makes them a powerful tool for parsing human instructions into task plans for autonomous robots.
Two Body Problem: Collaborative Visual Task Completion
Unnat Jain, Luca Weihs, Eric Kolve, Mohammad Rastegari, Svetlana Lazebnik, Ali Farhadi, Alexander G. Schwing, and Aniruddha Kembhavi · 1904
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Habitat: A Platform for Embodied AI Research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, Devi Parikh, and Dhruv Batra · 1904
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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 · 1912
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Hierarchical Cooperative Multi-Agent Reinforcement Learning with Skill Discovery
Jiachen Yang, Igor Borovikov, and Hongyuan Zha · 1912
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Multi-Agent Reinforcement Learning: Independent vs. Cooperative Agents
Ming Tan · 1993
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Markov Decision Processes
Martin L. Puterman · 1994
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Planning and acting in partially observable stochastic domains
Leslie Pack Kaelbling, Michael L. Littman, and Anthony R. Cassandra · 1998
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Recent Advances in Hierarchical Reinforcement Learning
Andrew G. Barto and Sridhar Mahadevan · 2003
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SAPIEN: A SimulAted Part-based Interactive ENvironment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X. Chang, Leonidas J. Guibas, and Hao Su · 2003
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Robot and sensor networks for first responders
Vijay Kumar, D. Rus, and Sanjiv Singh · 2004
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Rearrangement: A Challenge for Embodied AI
Dhruv Batra, Angel X. Chang, Sonia Chernova, Andrew J. Davison, Jia Deng, Vladlen Koltun, Sergey Levine, Jitendra Malik, Igor Mordatch, Roozbeh Mottaghi, Manolis Savva, and Hao Su · 2011
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Robots for Environmental Monitoring: Significant Advancements and Applications
Matthew Dunbabin and Lino Marques · 2011
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Multiagent Cooperation and Competition with Deep Reinforcement Learning
Ardi Tampuu, Tambet Matiisen, Dorian Kodelja, Ilya Kuzovkin, Kristjan Korjus, Juhan Aru, Jaan Aru, and Raul Vicente · 2015
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HoME: a Household Multimodal Environment
Simon Brodeur, Ethan Perez, Ankesh Anand, Florian Golemo, Luca Celotti, Florian Strub, Jean Rouat, Hugo Larochelle, and Aaron C. Courville · 2017
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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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Visual semantic planning using deep successor representations
Yuke Zhu, Daniel Gordon, Eric Kolve, Dieter Fox, Li Fei-Fei, Abhinav Gupta, Roozbeh Mottaghi, and Ali Farhadi · 2017
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Mapping Instructions to Actions in 3D Environments with Visual Goal Prediction
Dipendra Kumar Misra, Andrew Bennett, Valts Blukis, Eyvind Niklasson, Max Shatkhin, and Yoav Artzi · 2018
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Data-Efficient Hierarchical Reinforcement Learning
Ofir Nachum, Shixiang (Shane) Gu, Honglak Lee, and Sergey Levine · 2018
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VirtualHome: Simulating Household Activities via Programs, 2018
Xavier Puig, Kevin Ra, Marko Boben, Jiaman Li, Tingwu Wang, Sanja Fidler, and Antonio Torralba · 2018
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Gibson Env: Real-World Perception for Embodied Agents
Fei Xia, Amir R. Zamir, Zhi-Yang He, Alexander Sax, Jitendra Malik, and Silvio Savarese · 2018
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Sentence-BERT: Sentence Embeddings using Siamese BERT-Networks, 2019
Nils Reimers and Iryna Gurevych · 2019
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Hierarchical Deep Multiagent Reinforcement Learning with Temporal Abstraction, 2019
Hongyao Tang, Jianye Hao, Tangjie Lv, Yingfeng Chen, Zongzhang Zhang, Hangtian Jia, Chunxu Ren, Yan Zheng, Zhaopeng Meng, Changjie Fan, and Li Wang · 2019
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A cordial sync: Going beyond marginal policies for multi-agent embodied tasks
Unnat Jain, Luca Weihs, Eric Kolve, Ali Farhadi, Svetlana Lazebnik, Aniruddha Kembhavi, and Alexander Schwing · 2020
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Hierarchical Multi-Agent Reinforcement Learning
Jesse Meyer, Ryan Praeuner, and Luke Vanderbeek · 2020
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Multi-task reinforcement learning with soft modularization
Ruihan Yang, Huazhe Xu, Yi Wu, and Xiaolong Wang · 2020
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The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AI, 2021
Chuang Gan, Siyuan Zhou, Jeremy Schwartz, Seth Alter, Abhishek Bhandwaldar, Dan Gutfreund, Daniel L. K. Yamins, James J DiCarlo, Josh McDermott, Antonio Torralba, and Joshua B. Tenenbaum · 2021
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TEACh: Task-driven Embodied Agents that Chat, 2021
Aishwarya Padmakumar, Jesse Thomason, Ayush Shrivastava, Patrick Lange, Anjali Narayan-Chen, Spandana Gella, Robinson Piramuthu, Gokhan Tur, and Dilek Hakkani-Tur · 2021
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BEHAVIOR-1K: A Benchmark for Embodied AI with 1,000 Everyday Activities and Realistic Simulation
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Text2Motion: from natural language instructions to feasible plans
Kevin Lin, Christopher Agia, Toki Migimatsu, Marco Pavone, and Jeannette Bohg · 2023
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RoCo: Dialectic multi-robot collaboration with large language models
Zhao Mandi, Shreeya Jain, and Shuran Song · 2023
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GPT-4 Technical Report, 2023
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Hierarchical Reinforcement Learning: A Comprehensive Survey
Shubham Pateria, Budhitama Subagdja, Ah-hwee Tan, and Chai Quek · 2021
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Learning Transferable Visual Models From Natural Language Supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, Gretchen Krueger, and Ilya Sutskever · 2021
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Skill Induction and Planning with Latent Language
Pratyusha Sharma, Antonio Torralba, and Jacob Andreas · 2021
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Decoupling representation learning from reinforcement learning
Adam Stooke, Kimin Lee, Pieter Abbeel, and Michael Laskin · 2021
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Habitat 2.0: Training Home Assistants to Rearrange their Habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimír Vondruš, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Hierarchies of Planning and Reinforcement Learning for Robot Navigation
Jan Wohlke, Felix Schmitt, and Herke van Hoof · 2021
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Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents
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ADaPT: As-Needed Decomposition and Planning with Language Models, 2023
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ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
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LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models, 2023
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Cognitive Architectures for Language Agents, 2023
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