ADAM: An Embodied Causal Agent in Open-World Environments
Keywords: embodied agent, causality, large language model, interpretability, vision language navigation, cross-modal application, cross-modal information extraction, multimodality
Abstract: In open-world environments like Minecraft, existing agents face challenges in continuously learning structured knowledge, particularly causality. These challenges stem from the opacity inherent in black-box models and an excessive reliance on prior knowledge during training, which impair their interpretability and generalization capability. To this end, we introduce ADAM, An emboDied causal Agent in Minecraft, which can autonomously navigate the open world, perceive multimodal context, learn causal world knowledge, and tackle complex tasks through lifelong learning. ADAM is empowered by four key components: 1) an interaction module, enabling the agent to execute actions while recording the interaction processes; 2) a causal model module, tasked with constructing an ever-growing causal graph from scratch, which enhances interpretability and reduces reliance on prior knowledge; 3) a controller module, comprising a planner, an actor, and a memory pool, using the learned causal graph to accomplish tasks; 4) a perception module, powered by multimodal large language models, enabling ADAM to perceive like a human player. Extensive experiments show that ADAM constructs a nearly perfect causal graph from scratch, enabling efficient task decomposition and execution with strong interpretability. Notably, in the modified Minecraft game where no prior knowledge is available, ADAM excels with remarkable robustness and generalization capability. ADAM pioneers a novel paradigm that integrates causal methods and embodied agents synergistically. Our project page is at https://opencausalab.github.io/ADAM.
Primary Area: applications to robotics, autonomy, planning
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Submission Number: 13881
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