Leveraging Language for Accelerated Learning of Tool Manipulation

Robust and generalized tool manipulation requires an understanding of the properties and affordances of different tools. We investigate whether linguistic information about a tool (e.g., its geometry, common uses) can help control policies adapt faster to new tools for a given task. We obtain divers...

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Published in:arXiv.org 2022-06
Main Authors: Ren, Allen Z, Govil, Bharat, Tsung-Yen, Yang, Narasimhan, Karthik, Majumdar, Anirudha
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Govil, Bharat
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Narasimhan, Karthik
Majumdar, Anirudha
description Robust and generalized tool manipulation requires an understanding of the properties and affordances of different tools. We investigate whether linguistic information about a tool (e.g., its geometry, common uses) can help control policies adapt faster to new tools for a given task. We obtain diverse descriptions of various tools in natural language and use pre-trained language models to generate their feature representations. We then perform language-conditioned meta-learning to learn policies that can efficiently adapt to new tools given their corresponding text descriptions. Our results demonstrate that combining linguistic information and meta-learning significantly accelerates tool learning in several manipulation tasks including pushing, lifting, sweeping, and hammering.
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subjects Descriptions
Learning
Linguistics
Policies
title Leveraging Language for Accelerated Learning of Tool Manipulation
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