Abstract
Embodied Instruction Following (EIF) studies how mobile manipulator robots should be controlled to accomplish long-horizon tasks specified by natural language instructions. While most research on EIF are conducted in simulators, the ultimate goal of the field is to deploy the agents in real life. As such, it is important to minimize the data cost required for training an agent, to help the transition from sim to real. However, many studies only focus on the performance and overlook the data cost -- modules that require separate training on extra data are often introduced without a consideration on deployability. In this work, we propose FILM++ which extends the existing work FILM with modifications that do not require extra data. While all data-driven modules are kept constant, FILM++ more than doubles FILM's performance. Furthermore, we propose Prompter, which replaces FILM++'s semantic search module with language model prompting. Unlike FILM++'s implementation that requires training on extra sets of data, no training is needed for our prompting based implementation while achieving better or at least comparable performance. Prompter achieves 42.64% and 45.72% on the ALFRED benchmark with high-level instructions only and with step-by-step instructions, respectively, outperforming the previous state of the art by 6.57% and 10.31%.
Abstract (translated)
URL
https://arxiv.org/abs/2211.03267
