CAPE: Corrective Actions from Precondition Errors using Large Language Models

no code implementations • 17 Nov 2022 • Shreyas Sundara Raman, Vanya Cohen, Ifrah Idrees, Eric Rosen, Ray Mooney, Stefanie Tellex, David Paulius

Our improvements transfer to a Boston Dynamics Spot robot initialized with a set of skills (specified in language) and associated preconditions, where CAPE improves the correctness metric of the executed task plans by 76. 49% compared to SayCan.

Common Sense Reasoning Language Modelling +1

Learning to Follow Language Instructions with Compositional Policies

no code implementations • 9 Oct 2021 • Vanya Cohen, Geraud Nangue Tasse, Nakul Gopalan, Steven James, Matthew Gombolay, Benjamin Rosman

We propose a framework that learns to execute natural language instructions in an environment consisting of goal-reaching tasks that share components of their task descriptions.

Grounding Language Attributes to Objects using Bayesian Eigenobjects

no code implementations • 30 May 2019 • Vanya Cohen, Benjamin Burchfiel, Thao Nguyen, Nakul Gopalan, Stefanie Tellex, George Konidaris

Our system is able to disambiguate between novel objects, observed via depth images, based on natural language descriptions.

3D Shape Representation Object