ACT-Thor: A Controlled Benchmark for Embodied Action Understanding in Simulated Environments
Michael Hanna, Federico Pedeni, Alessandro Suglia, Alberto Testoni, Raffaella Bernardi
Abstract
Artificial agents are nowadays challenged to perform embodied AI tasks. To succeed, agents must understand the meaning of verbs and how their corresponding actions transform the surrounding world. In this work, we propose ACT-Thor, a novel controlled benchmark for embodied action understanding. We use the AI2-THOR simulated environment to produce a controlled setup in which an agent, given a before-image and an associated action command, has to determine what the correct after-image is among a set of possible candidates. First, we assess the feasibility of the task via a human evaluation that resulted in 81.4% accuracy, and very high inter-annotator agreement (84.9%). Second, we design both unimodal and multimodal baselines, using state-of-the-art visual feature extractors. Our evaluation and error analysis suggest that only models that have a very structured representation of the actions together with powerful visual features can perform well on the task. However, they still fall behind human performance in a zero-shot scenario where the model is exposed to unseen (action, object) pairs. This paves the way for a systematic way of evaluating embodied AI agents that understand grounded actions.
BibTeX
@inproceedings{hanna-etal-2022-act,
title = "{ACT}-Thor: A Controlled Benchmark for Embodied Action Understanding in Simulated Environments",
author = "Hanna, Michael and
Pedeni, Federico and
Suglia, Alessandro and
Testoni, Alberto and
Bernardi, Raffaella",
editor = "Calzolari, Nicoletta and
Huang, Chu-Ren and
Kim, Hansaem and
Pustejovsky, James and
Wanner, Leo and
Choi, Key-Sun and
Ryu, Pum-Mo and
Chen, Hsin-Hsi and
Donatelli, Lucia and
Ji, Heng and
Kurohashi, Sadao and
Paggio, Patrizia and
Xue, Nianwen and
Kim, Seokhwan and
Hahm, Younggyun and
He, Zhong and
Lee, Tony Kyungil and
Santus, Enrico and
Bond, Francis and
Na, Seung-Hoon",
booktitle = "Proceedings of the 29th International Conference on Computational Linguistics",
month = oct,
year = "2022",
address = "Gyeongju, Republic of Korea",
publisher = "International Committee on Computational Linguistics",
url = "https://aclanthology.org/2022.coling-1.495/",
pages = "5597--5612"
}