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Sketch-Plan-Generalize: Continual Few-Shot Learning of Inductively Generalizable Spatial Concepts for Language-Guided Robot Manipulation
April 12, 2024, 4:42 a.m. | Namasivayam Kalithasan, Sachit Sachdeva, Himanshu Gaurav Singh, Divyanshu Aggarwal, Gurarmaan Singh Panjeta, Vishal Bindal, Arnav Tuli, Rohan Paul, Pa
cs.LG updates on arXiv.org arxiv.org
Abstract: Our goal is to build embodied agents that can learn inductively generalizable spatial concepts in a continual manner, e.g, constructing a tower of a given height. Existing work suffers from certain limitations (a) (Liang et al., 2023) and their multi-modal extensions, rely heavily on prior knowledge and are not grounded in the demonstrations (b) (Liu et al., 2023) lack the ability to generalize due to their purely neural approach. A key challenge is to achieve …
abstract agents arxiv build concepts continual cs.lg cs.ro embodied extensions few-shot few-shot learning language learn limitations manipulation modal multi-modal robot robot manipulation spatial type work
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