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<!DOCTYPE html>
<html>
<head lang="en">
<meta charset="UTF-8">
<meta http-equiv="x-ua-compatible" content="ie=edge">
<title>Physically Grounded VLMs</title>
<meta name="description" content="Physically Grounded VLMs">
<meta name="viewport" content="width=device-width, initial-scale=1">
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<style>
.nav-pills {
position: relative;
display: inline;
}
.imtip {
position: absolute;
top: 0;
left: 0;
}
</style>
</head>
<body>
<div class="topnav">
<a href="index.html">Home</a>
<div class="rightnav">
<a href="scene1.html">Scene 1: Countertop</a>
<a href="scene2.html" class="active">Scene 2: Art Table</a>
<a href="scene3.html">Scene 3: Floor</a>
<a href="scene4.html">Scene 4: Kitchen A</a>
<a href="scene5.html">Scene 5: Kitchen B</a>
<a href="scene6.html">Scene 6: Salad Bar</a>
<a href="scene7.html">Scene 7: Living Room</a>
<a href="scene8.html">Scene 8: Shelf</a>
<a href="RS1/index.html">Robot Scene 1</a>
<a href="RS2/index.html">Robot Scene 2</a>
</div>
</div>
<div class="container" id="main">
<div class="row">
<div class="col-md-8 col-md-offset-2">
<br>
<h1>
Scene 2: Art Table
</h1>
<div class="irow">
<div class="strict_column">
<img src="img/eval2_scene2.png">
</div>
<div class="strict_column">
<p>A: suitcase [blue crate] </p>
<p>B: stool</p>
<p>C: hair dryer [mirror]</p>
<p>D: chair [chair that the mirror is on]</p>
<p>E: dishwasher [metal cabinet in top right]</p>
<p>F: chair [blue chair]</p>
<p>G: bottle [Elmer glue container]</p>
<p>H: bottle [Mod Podge container]</p>
<p style="color: #0000ff">I: container [paint thinner container]</p>
<p>J: desk</p>
<p>K: mug [mug with paintbrushes]</p>
<p style="color: #a64d79"> L: facial tissue holder [container with glitter]</p>
<p> M: pencil</p>
</div>
</div>
<br>
<p class="text-justify">
Here we provide a scene from our real scene planning evaluation, and one example task for it. We provide the object detections and labels from OWL-ViT, which is what our planner has access to, but we provide more precise labels in square brackets. We provide color-coded bounding boxes for the object detections that are relevant for the example task. For each version of the LLM planner, we provide its output, including possible interaction with a VLM, and the generated plan. Outputs generated by the VLMs are in <span style="color: #ff9900">orange</span>, and we mark correct and incorrect plans with <span style="color: #38761d">green</span> and <span style="color: #ff0000">red</span> respectively.
</p>
<h2><b>Task 10: Bring me the clear container with art supplies.</b></h2>
<p class="text-justify">
In this task, we want to determine if the VLM maintains the ability to reason about "art supplies." The only container that should be brought is <span style="color: #a64d79"> L </span>.
</p>
<h3>Generated Plans</h3>
<div class="irow">
<div class="tcolumn">
<h3> No VLM </h3>
<p> Thought: There is no clear indication that the container (I) has art supplies, but it is the only container mentioned. I will assume it has the art supplies and bring it to the human. </p>
<p> Plan: </p>
<p style="color: #ff0000">
1. Go to object I <br>
2. Pick up object I<br>
3. Bring to human object I <br>
4. Done </p>
</div>
<div class="tcolumn">
<h3> InstructBLIP </h3>
<p> Thought: I can first ask which objects are clear containers out of all the objects I can carry. </p>
<p> Question about [A, B, C, D, E, F, G, H, I, J, K, L, M]: Is this object a clear container? </p>
<p style="color: #ff9900"> Answer <br>
A: No (0.94), Yes (0.05), Unknown (0.0)<br>
B: No (0.73), Yes (0.22), Unknown (0.03)<br>
C: No (0.74), Yes (0.22), Unknown (0.02)<br>
D: No (0.64), Yes (0.28), Unknown (0.05)<br>
E: No (0.73), Yes (0.23), Unknown (0.01)<br>
F: No (0.54), Yes (0.42), Unknown (0.02)<br>
G: Yes (0.58), No (0.39), Unknown (0.01)<br>
H: Yes (0.5), No (0.47), Unknown (0.01)<br>
I: No (0.82), Yes (0.16), Unknown (0.01)<br>
J: No (0.58), Yes (0.35), Unknown (0.03)<br>
K: No (0.83), Yes (0.15), Unknown (0.01)<br>
L: Yes (0.95), No (0.04), Clear (0.0)<br>
M: No (0.8), Yes (0.15), Unknown (0.03)<br>
</p>
<p> Thought: The clear containers are G, H, and L. I should ask which of these contains art supplies next. </p>
<p> Question about [G, H, L]: Does this object contain art supplies? </p>
<p style="color: #ff9900"> Answer <br>
G: Yes (0.69), No (0.29), Unknown (0.01) <br>
H: Yes (0.95), No (0.04), Unknown (0.0) <br>
L: Yes (0.97), No (0.02), Unknown (0.0) <br>
</p>
<p> Thought: The clear container with art supplies is the one with the highest Yes value. The answer is L. </p>
<p> Plan: </p>
<p style="color: #38761d">
1. Go to object L <br>
2. Pick up object L <br>
3. Bring to human object L <br>
4. Done
</p>
</div>
<div class="tcolumn">
<h3> PG-InstructBLIP (ours) </h3>
<p> Thought: I can first ask which objects are containers out of all the objects I can carry. Of these containers, I can ask which is clear and has art supplies. </p>
<p> Question about [A, B, C, D, E, F, G, H, I, J, K, L, M]: Is this object a container? </p>
<p style="color: #ff9900"> Answer <br>
A: Yes (0.97), No (0.02)<br>
B: No (0.78), Yes (0.19), Unknown (0.01)<br>
C: No (0.51), Yes (0.47), Unknown (0.01)<br>
D: No (0.77), Yes (0.21), Unknown (0.0)<br>
E: Yes (0.95), No (0.05), Container (0.0)<br>
F: No (0.67), Yes (0.31), Unknown (0.01)<br>
G: Yes (0.98), No (0.02), Container (0.0)<br>
H: Yes (0.98), No (0.02), Container (0.0)<br>
I: Yes (0.98), No (0.02)<br>
J: Yes (0.61), No (0.34), Unknown (0.02)<br>
K: Yes (0.98), No (0.02), Container (0.0)<br>
L: Yes (0.97), No (0.03), Container (0.0)<br>
M: No (0.95), Yes (0.04), Nothing (0.0)<br>
</p>
<p> Thought: The objects that are confidently containers are A, E, G, H, I, K, and L. I should ask which of these is clear and has art supplies. </p>
<p> Question about [A, E, G, H, I, K, L]: Is this object clear and contains art supplies? </p>
<p style="color: #ff9900"> Answer <br>
A: No (0.87), Yes (0.09), Unknown (0.03) <br>
E: No (0.89), Yes (0.07), Unknown (0.03) <br>
G: No (0.7), Yes (0.27), Unknown (0.01) <br>
H: Yes (0.64), No (0.35), Unknown (0.0) <br>
I: No (0.82), Yes (0.16), Unknown (0.01) <br>
K: No (0.53), Yes (0.46), Unknown (0.0) <br>
L: Yes (0.94), No (0.05), Unknown (0.0) <br>
</p>
<p> Thought: The clear container with art supplies is the one with the highest Yes value. The answer is L. </p>
<p> Plan: </p>
<p style="color: #38761d">
1. Go to object L <br>
2. Pick up object L <br>
3. Bring to human object L <br>
4. Done
</p>
</div>
</div>
</div>
</div>
</body>
</html>