LanGWM: Language Grounded World Model

원문 초록

Recent advances in deep reinforcement learning have showcased its potential in tackling complex tasks. However, experiments on visual control tasks have revealed that state-of-the-art reinforcement learning models struggle with out-of-distribution generalization. Conversely, expressing higher-level concepts and global contexts is relatively easy using language. Building upon recent success of the large language models, our main objective is to improve the state abstraction technique in reinforcement learning by leveraging language for robust action selection. Specifically, we focus on learning language-grounded visual features to enhance the world model learning, a model-based reinforcement learning technique. To enforce our hypothesis explicitly, we mask out the bounding boxes of a few objects in the image observation and provide the text prompt as descriptions for these masked objects. Subsequently, we predict the masked objects along with the surrounding regions as pixel reconstruction, similar to the transformer-based masked autoencoder approach. Our proposed LanGWM: Language Grounded World Model achieves state-of-the-art performance in out-of-distribution test at the 100K interaction steps benchmarks of iGibson point navigation tasks. Furthermore, our proposed technique of explicit language-grounded visual representation learning has the potential to improve models for human-robot interaction because our extracted visual features are language grounded.