A SYSTEM DESCRIPTION FOR THE KINGFISHER SIMBOT – (VISION FOCUS)
Abdullai, Blerim
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https://hdl.handle.net/2142/124861
Description
Title
A SYSTEM DESCRIPTION FOR THE KINGFISHER SIMBOT – (VISION FOCUS)
Author(s)
Abdullai, Blerim
Issue Date
2023-05-01
Keyword(s)
Embodied AI, Vision and Language, Embodied Instruction Following
Abstract
We introduce our system BEAST (Building an Embodied Action-prediction System with Trajectory data) for interactive instruction-following within the Alexa Arena Platform. Our system leverages the abstraction of navigation provided by the Arena to decouple the language and vision predictions. This allows for greater simplicity within the system, and for rapid augmentation of the trajectory dataset and training for our text-only action prediction model. Our system has the ability to use generate clarifying questions and resolve coreference ambiguity using deterministic policies. By creating a system with a focus towards user experience our system is more robust to errors in predictions, and informative to the user.
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