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scene5.html
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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">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" class="active">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 5: Kitchen B
</h1>
<div class="irow">
<div class="strict_column">
<img src="img/eval2_scene5.png">
</div>
<div class="strict_column">
<p> A: toaster </p>
<p> B: light switch [electric outlet] </p>
<p> C: envelope [napkin on microwave] </p>
<p> D: light switch </p>
<p> E: microwave oven [microwave] </p>
<p> F: door </p>
<p style="color: #9900ff"> G: bottle [glass sauce bottle] </p>
<p> H: picnic basket [drying rack] </p>
<p> I: soap dispenser </p>
<p> J: bottle [plastic bottle with blue vanilla flavor] </p>
<p> K: mug [dry mug] </p>
<p> L: sink </p>
<p> M: frying pan [dirty pan in sink] </p>
<p> N: mug [dirty mug in sink] </p>
<p> O: countertop </p>
<p> P: waste container </p>
<p> Q: cupboard </p>
<p> R: plastic bag [trashbag] </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 31: Bring me the glass object.</b></h2>
<p class="text-justify">
In this task, we want to determine if the VLM can understand that <span style="color: #9900ff"> G </span> is made of glass.
</p>
<h3>Generated Plans</h3>
<div class="irow">
<div class="tcolumn">
<h3> No VLM </h3>
<p> Thought: There is no specific glass object mentioned in the list, but bottles are commonly made of glass. I will assume that one of the bottles (G or J) is the glass object. </p>
<p> Plan: </p>
<p style="color: #38761d">
1. Go to object G <br>
2. Pick up object G <br>
3. Bring to human object G <br>
4. Done </p>
</div>
<div class="tcolumn">
<h3> InstructBLIP </h3>
<p> Thought: I can ask which objects are made of glass out of all the objects. </p>
<p> Question about [A, B, C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R]: Is this object made of glass? </p>
<p style="color: #ff9900"> Answer: <br>
A: No (0.67), Yes (0.25), Unknown (0.04) <br>
B: No (0.75), Yes (0.16), Unknown (0.06) <br>
C: No (0.58), Yes (0.32), Unknown (0.06) <br>
D: No (0.7), Yes (0.24), Unknown (0.03) <br>
E: Yes (0.56), No (0.34), Unknown (0.05) <br>
F: Yes (0.75), No (0.2), Bottle (0.01) <br>
G: Yes (0.88), No (0.1), Glass (0.01) <br>
H: No (0.71), Yes (0.22), Unknown (0.04) <br>
I: No (0.87), Yes (0.1), Plastic (0.01) <br>
J: Yes (0.48), No (0.43), Unknown (0.04) <br>
K: No (0.64), Yes (0.33), Unknown (0.01) <br>
L: Yes (0.6), No (0.32), Unknown (0.04) <br>
M: Yes (0.5), No (0.45), Unknown (0.02) <br>
N: No (0.49), Yes (0.46), Unknown (0.02) <br>
O: Yes (0.58), No (0.32), Unknown (0.05) <br>
P: No (0.84), Yes (0.12), Unknown (0.03) <br>
Q: Yes (0.66), No (0.29), Unknown (0.02) <br>
R: No (0.69), Yes (0.24), Unknown (0.04) <br>
</p>
<p> Thought: The object with the highest Yes value for being made of glass is G. I will bring object G to the human. </p>
<p> Plan: </p>
<p style="color: #38761d">
1. Go to object G <br>
2. Pick up object G <br>
3. Bring to human object G <br>
4. Done </p>
</div>
<div class="tcolumn">
<h3> PG-InstructBLIP (ours) </h3>
<p> Thought: I can ask which object is made of glass out of all the objects. </p>
<p> Question about [A, B, C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R]: Is this object made of glass? </p>
<p style="color: #ff9900"> Answer <br>
A: No (0.84), Yes (0.12), Unknown (0.02) <br>
B: No (0.96), Yes (0.02), Unknown (0.0) <br>
C: No (0.97), Yes (0.01), Nothing (0.0) <br>
D: No (0.94), Yes (0.04), Unknown (0.01) <br>
E: No (0.74), Yes (0.21), Glass (0.01) <br>
F: Yes (0.6), No (0.34), Glass (0.03) <br>
G: Yes (0.95), No (0.04), Glass (0.0) <br>
H: No (0.93), Yes (0.05), Unknown (0.01) <br>
I: No (0.93), Yes (0.05), Plastic (0.01) <br>
J: No (0.68), Yes (0.24), Plastic (0.05) <br>
K: Yes (0.89), No (0.11), Glass (0.0) <br>
L: No (0.94), Yes (0.04), Metal (0.01) <br>
M: No (0.9), Yes (0.08), Glass (0.0) <br>
N: Yes (0.73), No (0.25), Glass (0.01) <br>
O: No (0.88), Yes (0.08), Unknown (0.01) <br>
P: No (0.95), Yes (0.03), Unknown (0.0) <br>
Q: No (0.94), Yes (0.04), Unknown (0.0) <br>
R: No (0.87), Yes (0.09), Unknown (0.01) <br>
</p>
<p>Thought: The glass object is the one with the highest Yes value. The glass object is G. </p>
<p> Plan: </p>
<p style="color: #38761d">
1. Go to object G <br>
2. Pick up object G <br>
3. Bring to human object G <br>
4. Done </p>
</div>
</div>
</div>
</div>
</body>
</html>