NaturalVLM: Leveraging Fine-grained Natural Language for Affordance-Guided Visual Manipulation
<|reference_start|>NaturalVLM: Leveraging Fine-grained Natural Language for Affordance-Guided Visual Manipulation: Enabling home-assistant robots to perceive and manipulate a diverse range of 3D objects based on human language instructions is a pivotal challenge. Prior research has predominantly focused on simplistic and task-oriented instructions, i.e., "Slide the top drawer open". However, many real-world tasks demand intricate multi-step reasoning, and without human instructions, these will become extremely difficult for robot manipulation. To address these challenges, we introduce a comprehensive benchmark, NrVLM, comprising 15 distinct manipulation tasks, containing over 4500 episodes meticulously annotated with fine-grained language instructions. We split the long-term task process into several steps, with each step having a natural language instruction. Moreover, we propose a novel learning framework that completes the manipulation task step-by-step according to the fine-grained instructions. Specifically, we first identify the instruction to execute, taking into account visual observations and the end-effector's current state. Subsequently, our approach facilitates explicit learning through action-prompts and perception-prompts to promote manipulation-aware cross-modality alignment. Leveraging both visual observations and linguistic guidance, our model outputs a sequence of actionable predictions for manipulation, including contact points and end-effector poses. We evaluate our method and baselines using the proposed benchmark NrVLM. The experimental results demonstrate the effectiveness of our approach. For additional details, please refer to https://sites.google.com/view/naturalvlm.<|reference_end|>
@article{xu2024naturalvlm:,
    title={NaturalVLM: Leveraging Fine-grained Natural Language for
  Affordance-Guided Visual Manipulation},
    author={Ran Xu, Yan Shen, Xiaoqi Li, Ruihai Wu, Hao Dong},
    journal={arXiv preprint arXiv:2403.08355},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.08355},
    primaryClass={cs.RO cs.CV}
}