TEACh: 対話しながら家事タスクを遂行する身体性エージェントのデータセット
TEACh: Task-driven Embodied Agents that Chat
家庭内タスクを人間同士の対話で協力して遂行する3000以上の対話データセットTEAChを構築し、対話理解・言語接地・タスク実行のベンチマークを提案した論文。
著者: Aishwarya Padmakumar, Jesse Thomason, Ayush Shrivastava, Patrick Lange, Anjali Narayan-Chen, Spandana Gella, Robinson Piramuthu, Gokhan Tur, Dilek Hakkani-Tur
分類: cs.CV, cs.AI, cs.CL, cs.RO
原文アブストラクト
Robots operating in human spaces must be able to engage in natural language interaction with people, both understanding and executing instructions, and using conversation to resolve ambiguity and recover from mistakes. To study this, we introduce TEACh, a dataset of over 3,000 human--human, interactive dialogues to complete household tasks in simulation. A Commander with access to oracle information about a task communicates in natural language with a Follower. The Follower navigates through and interacts with the environment to complete tasks varying in complexity from "Make Coffee" to "Prepare Breakfast", asking questions and getting additional information from the Commander. We propose three benchmarks using TEACh to study embodied intelligence challenges, and we evaluate initial models' abilities in dialogue understanding, language grounding, and task execution.
