EMPOWER: Embodied Multi-role Open-vocabulary Planning with Online Grounding and Execution
Francesco Argenziano, Michele Brienza, Vincenzo Suriani, Daniele Nardi, Domenico D. Bloisi
Abstract
Task planning for robots in real-life settings presents significant challenges. These challenges stem from three primary issues: the difficulty in identifying grounded sequences of steps to achieve a goal; the lack of a standardized mapping between high-level actions and low-level commands; and the challenge of maintaining low computational overhead given the limited resources of robotic hardware. We introduce EMPOWER, a framework designed for open-vocabulary online grounding and planning for embodied agents aimed at addressing these issues. By leveraging efficient pre-trained foundation models and a multi-role mechanism, EMPOWER demonstrates notable improvements in grounded planning and execution. Quantitative results highlight the effectiveness of our approach, achieving an average success rate of 0.73 across six different real-life scenarios using a TIAGo robot.
BibTeX
@inproceedings{iros2024_empowerembodiedm,
title = {EMPOWER: Embodied Multi-role Open-vocabulary Planning with Online Grounding and Execution},
author = {Francesco Argenziano and Michele Brienza and Vincenzo Suriani and Daniele Nardi and Domenico D. Bloisi},
booktitle = {IROS 2024},
year = {2024}
}