1. EMPOWER: Embodied Multi-role Open-vocabulary Planning with Online Grounding and Execution
- Author
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Argenziano, Francesco, Brienza, Michele, Suriani, Vincenzo, Nardi, Daniele, and Bloisi, Domenico D.
- Subjects
Computer Science - Robotics ,Computer Science - Artificial Intelligence - Abstract
Task planning for robots in real-life settings presents significant challenges. These challenges stem from three primary issues: the difficulty in identifying grounded sequences of steps to achieve a goal; the lack of a standardized mapping between high-level actions and low-level commands; and the challenge of maintaining low computational overhead given the limited resources of robotic hardware. We introduce EMPOWER, a framework designed for open-vocabulary online grounding and planning for embodied agents aimed at addressing these issues. By leveraging efficient pre-trained foundation models and a multi-role mechanism, EMPOWER demonstrates notable improvements in grounded planning and execution. Quantitative results highlight the effectiveness of our approach, achieving an average success rate of 0.73 across six different real-life scenarios using a TIAGo robot., Comment: Accepted at IROS 2024
- Published
- 2024