Wenda Gu

Bill Yuchen Lin, Chengsong Huang, Qian Liu et al. · allen-ai

Language models (LMs) have demonstrated their capability in possessing commonsense knowledge of the physical world, a crucial aspect of performing tasks in everyday life. However, it remains unclear **whether LMs have the capacity to generate grounded, executable plans for embodied tasks.** This is a challenging task as LMs lack the ability to perceive the environment through vision and feedback from the physical environment. In this paper, we address this important research question and present the first investigation into the topic. Our novel problem formulation, named **G-PlanET**, inputs a high-level goal and a data table about objects in a specific environment, and then outputs a step-by-step actionable plan for a robotic agent to follow. To facilitate the study, we establish an **evaluation protocol** and design a dedicated metric to assess the quality of the plans. Our experiments demonstrate that the use of tables for encoding the environment and an iterative decoding strategy can significantly enhance the LMs' ability in grounded planning. Our analysis also reveals interesting and non-trivial findings.

Geoffroy Chaussonnet, Christian Lieber, Yan Yikang et al.

This technical report investigates the potential of Convolutional Neural Networks to post-process images from primary atomization. Three tasks are investigated. First, the detection and segmentation of liquid droplets in degraded optical conditions. Second, the detection of overlapping ellipses and the prediction of their geometrical characteristics. This task corresponds to extrapolate the hidden contour of an ellipse with reduced visual information. Third, several features of the liquid surface during primary breakup (ligaments, bags, rims) are manually annotated on 15 experimental images. The detector is trained on this minimal database using simple data augmentation and then applied to other images from numerical simulation and from other experiment. In these three tasks, models from the literature based on Convolutional Neural Networks showed very promising results, thus demonstrating the high potential of Deep Learning to post-process liquid atomization. The next step is to embed these models into a unified framework DeepSpray.