A Hybrid Compositional Reasoning Approach for Interactive Robot Manipulation

Giorgos Tziafas, Seyed Mohades Kasaei*

*Bijbehorende auteur voor dit werk

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Samenvatting

— In this paper we present a neuro-symbolic (hybrid)
compositional reasoning model for coupling language-guided
visual reasoning with robot manipulation. A non-expert human
user can prompt the robot agent using natural language,
providing a referring expression, a question or a grasp action
instruction. The model tackles all cases in a task-agnostic
fashion through the utilization of a shared library of primitive
skills. Each primitive handles an independent sub-task, such
as reasoning about visual attributes, spatial relation comprehension, logic and enumeration, as well as arm control. A
language parser maps the input query to an executable program
composed of such primitives depending on the context. While
some primitives are purely symbolic operations (e.g. counting),
others are trainable neural functions (e.g. image/word grounding), therefore marrying the interpretability and systematic
generalization benefits of discrete symbolic approaches with
the scalability and representational power of deep networks.
We generate a synthetic dataset of tabletop scenes to train our
approach and perform several evaluation experiments for visual
reasoning. Results show that the proposed method achieves very
high accuracy while being transferable to real-world scenes with
few-shot visual fine-tuning. Finally, we integrate our method
with a robot framework and demonstrate how it can serve
as an interpretable solution for an interactive object picking
task, both in simulation and with a real robot. Supplementary
material is available in this https URL.
Originele taal-2English
Aantal pagina's6
TijdschriftArXiv
StatusSubmitted - 3-okt.-2022

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