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• W3200325732 abstract "When humans perform a particular task, they do so hierarchically: splitting higher-level tasks into smaller sub-tasks. However, most works on natural language (NL) command of situated agents have treated the procedures to be executed as flat sequences of simple actions, or any hierarchies of procedures have been shallow at best. In this paper, we propose a formalism of procedures as programs, a method for representing hierarchical procedural knowledge for agent command and control aimed at enabling easy application to various scenarios. We further propose a modeling paradigm of hierarchical modular networks, which consist of a planner and reactors that convert NL intents to predictions of executable programs and probe the environment for information necessary to complete the program execution. We instantiate this framework on the IQA and ALFRED datasets for NL instruction following. Our model outperforms reactive baselines by a large margin on both datasets. We also demonstrate that our framework is more data-efficient, and that it allows for fast iterative development." @default.
• W3200325732 created "2021-09-27" @default.
• W3200325732 creator A5068811427 @default.
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• W3200325732 creator A5078519761 @default.
• W3200325732 date "2022-01-01" @default.
• W3200325732 modified "2023-09-26" @default.
• W3200325732 title "Hierarchical Control of Situated Agents through Natural Language" @default.
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• W3200325732 doi "https://doi.org/10.18653/v1/2022.suki-1.8" @default.
• W3200325732 hasPublicationYear "2022" @default.
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