Interactive Visual Task Learning for Robots
Weiwei Gu Anant Sah Nakul Gopalan
We present a framework for robots to learn novel visual concepts and tasks
via in-situ linguistic interactions with human users. Previous approaches have
either used large pre-trained visual models to infer novel objects zero-shot,
or added novel concepts along with their attributes and representations to a
concept hierarchy. We extend the approaches that focus on learning visual
concept hierarchies by enabling them to learn novel concepts and solve unseen
robotics tasks with them. To enable a visual concept learner to solve robotics
tasks one-shot, we developed two distinct techniques. Firstly, we propose a
novel approach, Hi-Viscont(HIerarchical VISual CONcept learner for Task), which
augments information of a novel concept to its parent nodes within a concept
hierarchy. This information propagation allows all concepts in a hierarchy to
update as novel concepts are taught in a continual learning setting. Secondly,
we represent a visual task as a scene graph with language annotations, allowing
us to create novel permutations of a demonstrated task zero-shot in-situ. We
present two sets of results. Firstly, we compare Hi-Viscont with the baseline
model (FALCON) on visual question answering(VQA) in three domains. While being
comparable to the baseline model on leaf level concepts, Hi-Viscont achieves an
improvement of over 9% on non-leaf concepts on average. We compare our model's
performance against the baseline FALCON model. Our framework achieves 33%
improvements in success rate metric, and 19% improvements in the object level
accuracy compared to the baseline model. With both of these results we
demonstrate the ability of our model to learn tasks and concepts in a continual
learning setting on the robot.