Reference Wording Shapes Retrieval of Robot Task Instructions

Key points

• We investigate this effect in the natural-language instructions included with the RLBench manipulation benchmark.1
• We extract 296 fixed descriptions from 62 publicly available task files and compare five training-free lexical rankers over 80 random choices of one indexed description per task.1
• Adding a second indexed description improves character TF-IDF by 7.0 percentage points on matched queries.1
• These results quantify the influence of reference wording and representation choice on instruction-to-task retrieval under a consistent evaluation protocol.1

Sources (1)

• [1]Reference Wording Shapes Retrieval of Robot Task Instructions
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 13, 01:21 AM

  Identifying a robot task from a short instruction is sensitive to which descriptions are available for retrieval.

  We investigate this effect in the natural-language instructions included with the RLBench manipulation benchmark.

Extractive summary: sentences quoted from the sources.