SayCan combines an LLM's high-level semantic knowledge with robot skill value functions to select only feasible actions, enabling completion of abstract natural-language instructions on a real mobile manipulator.
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Socratic Models compose zero-shot multimodal reasoning by prompting pretrained language and vision models to exchange information and enable new capabilities without finetuning.
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Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
SayCan combines an LLM's high-level semantic knowledge with robot skill value functions to select only feasible actions, enabling completion of abstract natural-language instructions on a real mobile manipulator.
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Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language
Socratic Models compose zero-shot multimodal reasoning by prompting pretrained language and vision models to exchange information and enable new capabilities without finetuning.