Embodied BERT: A Transformer Model for Embodied, Language-guided Visual Task Completion Article Swipe

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Alessandro Suglia , Qiaozi Gao , Jesse Thomason , Govind Thattai , Gaurav S. Sukhatme ·

YOU? · · 2021 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2108.04927

Language-guided robots performing home and office tasks must navigate in and interact with the world. Grounding language instructions against visual observations and actions to take in an environment is an open challenge. We present Embodied BERT (EmBERT), a transformer-based model which can attend to high-dimensional, multi-modal inputs across long temporal horizons for language-conditioned task completion. Additionally, we bridge the gap between successful object-centric navigation models used for non-interactive agents and the language-guided visual task completion benchmark, ALFRED, by introducing object navigation targets for EmBERT training. We achieve competitive performance on the ALFRED benchmark, and EmBERT marks the first transformer-based model to successfully handle the long-horizon, dense, multi-modal histories of ALFRED, and the first ALFRED model to utilize object-centric navigation targets.

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Benchmark (Surveying)

Artificial Intelligence

Human–Computer Interaction

Electrical Engineering

Internal Medicine

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Embodied cognition Transformer Computer science Robot Language understanding Task (project management) Benchmark (surveying) Artificial intelligence Language model Human–computer interaction Bridge (graph theory) Engineering Voltage Geography Geodesy Medicine Systems engineering Electrical engineering Internal medicine

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Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2108.04927
PDF: https://arxiv.org/pdf/2108.04927
OA Status: green
Cited By: 5
References: 82
Related Works: 20
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DOI: https://doi.org/10.48550/arxiv.2108.04927

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Title: Embodied BERT: A Transformer Model for Embodied, Language-guided Visual Task Completion

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Type: preprint

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Language: en

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Publication year: 2021

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Publication date: 2021-08-10

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Authors: Alessandro Suglia, Qiaozi Gao, Jesse Thomason, Govind Thattai, Gaurav S. Sukhatme

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Landing page: https://arxiv.org/abs/2108.04927

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Concepts: Embodied cognition, Transformer, Computer science, Robot, Language understanding, Task (project management), Benchmark (surveying), Artificial intelligence, Language model, Human–computer interaction, Bridge (graph theory), Engineering, Voltage, Geography, Geodesy, Medicine, Systems engineering, Electrical engineering, Internal medicine

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Cited by: 5

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Citations by year (recent): 2025: 2, 2024: 1, 2022: 1, 2021: 1

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References (count): 82

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countries_distinct_count	0
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