Timezone: »
We present a framework for building interactive, real-time, natural language-instructable robots in the real world, and we open source related assets (dataset, environment, benchmark, and policies). Trained with behavioral cloning on a dataset of hundreds of thousands of language-annotated trajectories, a produced policy can proficiently execute an order of magnitude more commands than previous works: specifically we estimate a 93.5% success rate on a set of 87,000 unique natural language strings specifying raw end-to-end visuo-linguo-motor skills in the real world. We find that the same policy is capable of being guided by a human via real-time language to address a wide range of precise long-horizon rearrangement goals, e.g. "make a smiley face out of blocks". The dataset we release comprises nearly 600,000 language-labeled trajectories, an order of magnitude larger than prior available datasets. We hope the demonstrated results and associated assets enable further advancement of helpful, capable, natural-language-interactable robots. See videos at https://sites.google.com/view/interactive-language.
Author Information
Corey Lynch (Google Brain)
Pete Florence (Robotics at Google)
Jonathan Tompson (Google Brain)
Ayzaan Wahid (Google)
Tianli Ding (Google)
James Betker (Google)
Robert Baruch (Google)
Travis Armstrong (Google)
Related Events (a corresponding poster, oral, or spotlight)
-
2022 : Interactive Language: Talking to Robots in Real Time »
Dates n/a. Room
More from the Same Authors
-
2021 : Implicit Behavioral Cloning »
Pete Florence · Corey Lynch · Andy Zeng · Oscar Ramirez · Ayzaan Wahid · Laura Downs · Adrian Wong · Igor Mordatch · Jonathan Tompson -
2021 : Improving Zero-shot Generalization in Offline Reinforcement Learning using Generalized Similarity Functions »
Bogdan Mazoure · Ilya Kostrikov · Ofir Nachum · Jonathan Tompson -
2022 : Skill Acquisition by Instruction Augmentation on Offline Datasets »
Ted Xiao · Harris Chan · Pierre Sermanet · Ayzaan Wahid · Anthony Brohan · Karol Hausman · Sergey Levine · Jonathan Tompson -
2022 : Robotic Skill Acquistion via Instruction Augmentation with Vision-Language Models »
Ted Xiao · Harris Chan · Pierre Sermanet · Ayzaan Wahid · Anthony Brohan · Karol Hausman · Sergey Levine · Jonathan Tompson -
2022 : Contrastive Value Learning: Implicit Models for Simple Offline RL »
Bogdan Mazoure · Benjamin Eysenbach · Ofir Nachum · Jonathan Tompson -
2022 : Robotic Skill Acquistion via Instruction Augmentation with Vision-Language Models »
Ted Xiao · Harris Chan · Pierre Sermanet · Ayzaan Wahid · Anthony Brohan · Karol Hausman · Sergey Levine · Jonathan Tompson -
2023 Workshop: 6th Robot Learning Workshop: Pretraining, Fine-Tuning, and Generalization with Large Scale Models »
Dhruv Shah · Paula Wulkop · Claas Voelcker · Georgia Chalvatzaki · Alex Bewley · Hamidreza Kasaei · Ransalu Senanayake · Julien PEREZ · Jonathan Tompson -
2022 Workshop: 5th Robot Learning Workshop: Trustworthy Robotics »
Alex Bewley · Roberto Calandra · Anca Dragan · Igor Gilitschenski · Emily Hannigan · Masha Itkina · Hamidreza Kasaei · Jens Kober · Danica Kragic · Nathan Lambert · Julien PEREZ · Fabio Ramos · Ransalu Senanayake · Jonathan Tompson · Vincent Vanhoucke · Markus Wulfmeier -
2022 Poster: Improving Zero-Shot Generalization in Offline Reinforcement Learning using Generalized Similarity Functions »
Bogdan Mazoure · Ilya Kostrikov · Ofir Nachum · Jonathan Tompson -
2021 : Implicit Behavioral Cloning Q&A »
Pete Florence · Corey Lynch · Andy Zeng · Oscar Ramirez · Ayzaan Wahid · Laura Downs · Adrian Wong · Igor Mordatch · Jonathan Tompson -
2021 : Implicit Behavioral Cloning »
Pete Florence · Corey Lynch · Andy Zeng · Oscar Ramirez · Ayzaan Wahid · Laura Downs · Adrian Wong · Igor Mordatch · Jonathan Tompson -
2020 : Discussion Panel »
Pete Florence · Dorsa Sadigh · Carolina Parada · Jeannette Bohg · Roberto Calandra · Peter Stone · Fabio Ramos -
2020 : Invited Talk - "Object- and Action-Centric Representational Robot Learning" »
Pete Florence · Daniel Seita -
2019 : Poster Presentations »
Rahul Mehta · Andrew Lampinen · Binghong Chen · Sergio Pascual-Diaz · Jordi Grau-Moya · Aldo Faisal · Jonathan Tompson · Yiren Lu · Khimya Khetarpal · Martin Klissarov · Pierre-Luc Bacon · Doina Precup · Thanard Kurutach · Aviv Tamar · Pieter Abbeel · Jinke He · Maximilian Igl · Shimon Whiteson · Wendelin Boehmer · RaphaĆ«l Marinier · Olivier Pietquin · Karol Hausman · Sergey Levine · Chelsea Finn · Tianhe Yu · Lisa Lee · Benjamin Eysenbach · Emilio Parisotto · Eric Xing · Ruslan Salakhutdinov · Hongyu Ren · Anima Anandkumar · Deepak Pathak · Christopher Lu · Trevor Darrell · Alexei Efros · Phillip Isola · Feng Liu · Bo Han · Gang Niu · Masashi Sugiyama · Saurabh Kumar · Janith Petangoda · Johan Ferret · James McClelland · Kara Liu · Animesh Garg · Robert Lange -
2019 Poster: Wasserstein Dependency Measure for Representation Learning »
Sherjil Ozair · Corey Lynch · Yoshua Bengio · Aaron van den Oord · Sergey Levine · Pierre Sermanet -
2018 Poster: Discovery of Latent 3D Keypoints via End-to-end Geometric Reasoning »
Supasorn Suwajanakorn · Noah Snavely · Jonathan Tompson · Mohammad Norouzi -
2018 Oral: Discovery of Latent 3D Keypoints via End-to-end Geometric Reasoning »
Supasorn Suwajanakorn · Noah Snavely · Jonathan Tompson · Mohammad Norouzi