Let the Mind Conceive, Let the Hand Achieve: Following Multimodal Instructions for Long-Horizon Robotic Manipulation
To address these challenges, we introduce Orchestra, an agent harness that separates task planning and execution management from action generation.
ProofPaper ↗
Key points
- A robot following a multi-step instruction needs to act on the right objects in the right order, even as the scene changes.
- It must also maintain awareness of task progress and determine when to advance.
- To evaluate whether robots trained on atomic instructions and short trajectories can execute longer subtask sequences, we introduce a benchmark named RMBench-Compose.
- These results show that Orchestra helps robots carry out longer sequences of subtasks while preserving the requested subtask order and acting on the specified objects.
Sources (2)
- [1]Let the Mind Conceive, Let the Hand Achieve: Following Multimodal Instructions for Long-Horizon Robotic ManipulationarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 13, 01:20 PM
To address these challenges, we introduce Orchestra, an agent harness that separates task planning and execution management from action generation.
A robot following a multi-step instruction needs to act on the right objects in the right order, even as the scene changes.
- [2]Let the Mind Conceive, Let the Hand Achieve: Following Multimodal Instructions for Long-Horizon Robotic ManipulationHugging Face Daily Papers · Oct 13, 12:00 AM · same content
Extractive summary: sentences quoted from the sources.
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