RoboQuest: Generalist Physical Agents that Search, Inspect and Test
[Robotyka] Autorzy: Liu Renhang, Navonil Majumder, Tej Deep Pala i 1 więcej
Recent advances in multimodal foundation models have made them capable generalist physical agents for a range of manipulation tasks. However, successful operation in an unfamiliar environment may require an agent to seek task-relevant information through interaction when it is absent from the observations: it may need to determine where a relevant object is, inspect an unobserved property, or discover the effect of an unfamiliar tool. We thus introduce RoboQuest, a benchmark for goal-directed embodied exploration, where agents must actively acquire task-relevant information through physical interaction, use the resulting evidence to adapt subsequent actions, and autonomously decide when to commit to task completion. RoboQuest comprises ten mobile manipulation tasks centered on three forms of uncertainty: search, manipulation-based inspection, and interactive testing. We evaluate five fr…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka