Learning to Reason over Scene Graphs: A Case Study of Finetuning GPT-2 into a Robot Language Model for Grounded Task Planning

12 May 2023

Georgia Chalvatzaki

A. Younes

Daljeet Nandha

An T. Le

Leonardo F. R. Ribeiro

Papers citing "Learning to Reason over Scene Graphs: A Case Study of Finetuning GPT-2 into a Robot Language Model for Grounded Task Planning"

23 / 23 papers shown

Title
DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models Yuchen Liu Luigi Palmieri Sebastian Koch Ilche Georgievski Marco Aiello LM&Ro 96 16 0 04 Apr 2024
The Goldilocks of Pragmatic Understanding: Fine-Tuning Strategy Matters for Implicature Resolution by LLMs Laura Ruis Akbir Khan Stella Biderman Sara Hooker Tim Rocktaschel Edward Grefenstette ReLM 51 42 0 26 Oct 2022
Transcending Scaling Laws with 0.1% Extra Compute Yi Tay Jason W. Wei Hyung Won Chung Vinh Q. Tran David R. So ... Donald Metzler Slav Petrov N. Houlsby Quoc V. Le Mostafa Dehghani LRM 84 71 0 20 Oct 2022
Visual Language Maps for Robot Navigation Chen Huang Oier Mees Andy Zeng Wolfram Burgard LM&Ro 235 363 0 11 Oct 2022
VIMA: General Robot Manipulation with Multimodal Prompts Yunfan Jiang Agrim Gupta Zichen Zhang Guanzhi Wang Yongqiang Dou Yanjun Chen Li Fei-Fei Anima Anandkumar Yuke Zhu Linxi Fan LM&Ro 99 351 0 06 Oct 2022
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 Animesh Garg LM&Ro LLMAG 166 655 0 22 Sep 2022
Emergent Abilities of Large Language Models Jason W. Wei Yi Tay Rishi Bommasani Colin Raffel Barret Zoph ... Tatsunori Hashimoto Oriol Vinyals Percy Liang J. Dean W. Fedus ELM ReLM LRM 279 2,480 0 15 Jun 2022
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances Michael Ahn Anthony Brohan Noah Brown Yevgen Chebotar Omar Cortes ... Ted Xiao Peng Xu Sichun Xu Mengyuan Yan Andy Zeng LM&Ro 182 1,954 0 04 Apr 2022
Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language Andy Zeng Maria Attarian Brian Ichter K. Choromanski Adrian S. Wong ... Michael S. Ryoo Vikas Sindhwani Johnny Lee Vincent Vanhoucke Peter R. Florence ReLM LRM 145 583 0 01 Apr 2022
Accelerating Integrated Task and Motion Planning with Neural Feasibility Checking Lei Xu Tianyu Ren Georgia Chalvatzaki Jan Peters 49 15 0 20 Mar 2022
Pre-Trained Language Models for Interactive Decision-Making Shuang Li Xavier Puig Chris Paxton Yilun Du Clinton Jia Wang ... Anima Anandkumar Jacob Andreas Igor Mordatch Antonio Torralba Yuke Zhu LM&Ro 98 259 0 03 Feb 2022
Chain-of-Thought Prompting Elicits Reasoning in Large Language Models Jason W. Wei Xuezhi Wang Dale Schuurmans Maarten Bosma Brian Ichter F. Xia Ed H. Chi Quoc Le Denny Zhou LM&Ro LRM AI4CE ReLM 814 9,387 0 28 Jan 2022
Successor Feature Landmarks for Long-Horizon Goal-Conditioned Reinforcement Learning Christopher Hoang Sungryull Sohn Jongwook Choi Wilka Carvalho Honglak Lee 63 32 0 18 Nov 2021
Integrated Task and Motion Planning Caelan Reed Garrett Rohan Chitnis Rachel Holladay Beomjoon Kim Tom Silver L. Kaelbling Tomás Lozano-Pérez 95 501 0 02 Oct 2020
Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image Danny Driess Jung-Su Ha Marc Toussaint LRM 46 100 0 09 Jun 2020
AdapterFusion: Non-Destructive Task Composition for Transfer Learning Jonas Pfeiffer Aishwarya Kamath Andreas Rucklé Kyunghyun Cho Iryna Gurevych CLL MoMe 136 852 0 01 May 2020
ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks Mohit Shridhar Jesse Thomason Daniel Gordon Yonatan Bisk Winson Han Roozbeh Mottaghi Luke Zettlemoyer Dieter Fox LM&Ro 106 768 0 03 Dec 2019
SuperGLUE: A Stickier Benchmark for General-Purpose Language Understanding Systems Alex Jinpeng Wang Yada Pruksachatkun Nikita Nangia Amanpreet Singh Julian Michael Felix Hill Omer Levy Samuel R. Bowman ELM 265 2,312 0 02 May 2019
Learning to guide task and motion planning using score-space representation Beomjoon Kim Zi Wang L. Kaelbling Tomas Lozano-Perez 60 90 0 26 Jul 2018
GLUE: A Multi-Task Benchmark and Analysis Platform for Natural Language Understanding Alex Jinpeng Wang Amanpreet Singh Julian Michael Felix Hill Omer Levy Samuel R. Bowman ELM 1.1K 7,159 0 20 Apr 2018
PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning Caelan Reed Garrett Tomás Lozano-Pérez L. Kaelbling 68 260 0 23 Feb 2018
AI2-THOR: An Interactive 3D Environment for Visual AI Eric Kolve Roozbeh Mottaghi Winson Han Eli VanderBilt Luca Weihs ... Daniel Gordon Yuke Zhu Aniruddha Kembhavi Abhinav Gupta Ali Farhadi LM&Ro 79 1,101 0 14 Dec 2017
The Fast Downward Planning System M. Helmert 83 1,901 0 27 Sep 2011