Embodied AI with Two Arms: Zero-shot Learning, Safety and Modularity Article Swipe
Jake Varley
,
Sumeet Singh
,
Deepali Jain
,
Krzysztof Choromański
,
Andy Zeng
,
Somnath Basu Roy Chowdhury
,
Avinava Dubey
,
Vikas Sindhwani
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2404.03570
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2404.03570
We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon tasks over a large workspace. Our system is modular: it deploys state of the art Large Language Models for task planning,Vision-Language models for semantic perception, and Point Cloud transformers for grasping. With semantic and physical safety in mind, these modules are interfaced with a real-time trajectory optimizer and a compliant tracking controller to enable human-robot proximity. We demonstrate performance for the following tasks: bi-arm sorting, bottle opening, and trash disposal tasks. These are done zero-shot where the models used have not been trained with any real world data from this bi-arm robot, scenes or workspace. Composing both learning- and non-learning-based components in a modular fashion with interpretable inputs and outputs allows the user to easily debug points of failures and fragilities. One may also in-place swap modules to improve the robustness of the overall platform, for instance with imitation-learned policies. Please see https://sites.google.com/corp/view/safe-robots .
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2404.03570
- https://arxiv.org/pdf/2404.03570
- OA Status
- green
- Cited By
- 2
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4394007645
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4394007645Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2404.03570Digital Object Identifier
- Title
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Embodied AI with Two Arms: Zero-shot Learning, Safety and ModularityWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-04-04Full publication date if available
- Authors
-
Jake Varley, Sumeet Singh, Deepali Jain, Krzysztof Choromański, Andy Zeng, Somnath Basu Roy Chowdhury, Avinava Dubey, Vikas SindhwaniList of authors in order
- Landing page
-
https://arxiv.org/abs/2404.03570Publisher landing page
- PDF URL
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https://arxiv.org/pdf/2404.03570Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2404.03570Direct OA link when available
- Concepts
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Modularity (biology), Embodied cognition, Zero (linguistics), Shot (pellet), Ground zero, Computer science, Artificial intelligence, Political science, Philosophy, Chemistry, Law, Biology, Linguistics, Organic chemistry, GeneticsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
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2025: 1, 2024: 1Per-year citation counts (last 5 years)
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.Composing | 119 |
| abstract_inverted_index.compliant | 73 |
| abstract_inverted_index.following | 85 |
| abstract_inverted_index.grasping. | 54 |
| abstract_inverted_index.learning- | 121 |
| abstract_inverted_index.optimizer | 70 |
| abstract_inverted_index.platform, | 158 |
| abstract_inverted_index.policies. | 163 |
| abstract_inverted_index.real-time | 68 |
| abstract_inverted_index.zero-shot | 98 |
| abstract_inverted_index.accomplish | 21 |
| abstract_inverted_index.components | 124 |
| abstract_inverted_index.controller | 75 |
| abstract_inverted_index.interfaced | 65 |
| abstract_inverted_index.open-ended | 8 |
| abstract_inverted_index.proximity. | 79 |
| abstract_inverted_index.robustness | 154 |
| abstract_inverted_index.trajectory | 69 |
| abstract_inverted_index.workspace. | 28, 118 |
| abstract_inverted_index.demonstrate | 81 |
| abstract_inverted_index.human-robot | 78 |
| abstract_inverted_index.perception, | 48 |
| abstract_inverted_index.performance | 82 |
| abstract_inverted_index.potentially | 22 |
| abstract_inverted_index.fragilities. | 144 |
| abstract_inverted_index.instructions | 11 |
| abstract_inverted_index.long-horizon | 23 |
| abstract_inverted_index.transformers | 52 |
| abstract_inverted_index.interpretable | 130 |
| abstract_inverted_index.collaboratively | 20 |
| abstract_inverted_index.imitation-learned | 162 |
| abstract_inverted_index.non-learning-based | 123 |
| abstract_inverted_index.planning,Vision-Language | 44 |
| abstract_inverted_index.https://sites.google.com/corp/view/safe-robots | 166 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 8 |
| citation_normalized_percentile |