Embodied Multi-Agent Task Planning from Ambiguous Instruction

Abstract

—In human-robots collaboration scenarios, a human would give robots an instruction that is intuitive for the human himself to accomplish. However, the instruction given to robots is likely ambiguous for them to understand as some information is implicit in the instruction. Therefore, it is necessary for the robots to jointly reason the operation details and perform the embodied multi-agent task planning given the ambiguous instruction. This problem exhibits significant challenges in both language understanding and dynamic task planning with the perception information. In this work, an embodied multi-agent task planning framework is proposed to utilize external knowledge sources and dynamically perceived visual information to resolve the high-level instructions, and dynamically allocate the decomposed tasks to multiple agents. Furthermore, we utilize the semantic information to perform environment perception and generate sub-goals to achieve the navigation motion. This model effectively bridges the difference between the simulation environment and the physical environment, thus it can be simultaneously applied in both simulation and physical scenarios and avoid the notori- ous sim2real problem. Finally, we build a benchmark dataset to validate the embodied multi-agent task planning problem, which includes three types of high-level instructions in which some target objects are implicit in instructions. We perform the evaluation experiments on the simulation platform and in physical scenarios, demonstrating that the proposed model can achieve promising results for multi-agent collaborative tasks.