Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

Brian Ichter, Anthony Brohan, Yevgen Chebotar, Chelsea Finn, Karol Hausman, Alexander Herzog, Daniel Ho, Julian Ibarz, Alex Irpan, Eric Jang, Ryan Julian, Dmitry Kalashnikov, Sergey Levine, Yao Lu, Carolina Parada, Kanishka Rao, Pierre Sermanet, Alexander Toshev, Vincent Vanhoucke, Fei Xia et al. (25 additional authors not shown)

Abstract: Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions e...