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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">Scene 5: Kitchen B</a>
<a href="scene6.html">Scene 6: Salad Bar</a>
<a href="scene7.html" class="active">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 7: Living Room
</h1>
<div class="irow">
<div class="strict_column">
<img src="img/eval2_scene7.png">
</div>
<div class="strict_column">
<p> A: whiteboard </p>
<p> B: door [leftmost door] </p>
<p> C: paper </p>
<p> D: window [window of left door of rightmost pair] </p>
<p> E: door [left door of rightmost pair] </p>
<p style="color: #ff00ff"> F: table [taller table] </p>
<p> G: chair [leftmost short chair facing towards the camera] </p>
<p> H: chair [tall chair] </p>
<p> I: chair [short chair behind pillar] </p>
<p> J: chair [rightmost short chair, facing towards the camera] </p>
<p style="color: #9900ff"> K: table [long wooden table] </p>
<p> L: door [rightmost door] </p>
<p> M: couch </p>
<p> N: chair [left side, facing away from camera] </p>
<p style="color: #0000ff"> O: coffee table </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 44: Go to the table that does not have a wooden surface.</b></h2>
<p class="text-justify">
In this task, we want to determine if the VLM can understand which tables have a wooden surface. Only <span style="color: #0000ff"> O </span> is not made of wood.
</p>
<h3>Generated Plans</h3>
<div class="irow">
<div class="tcolumn">
<h3> No VLM </h3>
<p> Thought: I need to identify the tables and determine which one does not have a wooden surface . </p>
<p> Plan: </p>
<p style="color: #ff0000">
1. Go to object F <br>
2. Go to object K <br>
3. Done </p>
</div>
<div class="tcolumn">
<h3> InstructBLIP </h3>
<p> Thought: I can first ask which objects are tables out of all the objects I can carry. Of these tables, I can ask which does not have a wooden surface. </p>
<p> Question about [A, B, C, D, E, F, G, H, I, J, K, L, M, N, O]: Is this object a table? </p>
<p style="color: #ff9900"> Answer <br>
A: No (0.86), Yes (0.11), Unknown (0.01) <br>
B: Yes (0.64), No (0.33), Table (0.01) <br>
C: No (0.81), Yes (0.11), Unknown (0.04) <br>
D: No (0.64), Yes (0.28), Unknown (0.04) <br>
E: No (0.64), Yes (0.3), Unknown (0.03) <br>
F: Yes (0.78), No (0.2), Table (0.01) <br>
G: Yes (0.97), No (0.03), Table (0.0) <br>
H: Yes (0.97), No (0.03), Table (0.0) <br>
I: No (0.91), Yes (0.06), Chair (0.01) <br>
J: Yes (0.8), No (0.18), Table (0.0) <br>
K: Yes (0.97), No (0.03), Table (0.0) <br>
L: No (0.74), Yes (0.19), Unknown (0.03) <br>
M: No (0.82), Yes (0.15), Unknown (0.01) <br>
N: No (0.69), Yes (0.23), Chair (0.02) <br>
O: Yes (0.75), No (0.22), Table (0.01)
</p>
<p> Thought: The objects that are confidently Yes are F, G, H, J, K, and O. I should ask which of these does not have a wooden surface next. </p>
<p> Question about [F, G, H, J, K, O]: Does this object have a wooden surface? </p>
<p style="color: #ff9900"> Answer <br>
F: Yes (0.96), No (0.03), Wood (0.0) <br>
G: Yes (0.97), No (0.03), Table (0.0) <br>
H: Yes (0.98), No (0.02), Wood (0.0) <br>
J: Yes (0.88), No (0.1), Table (0.01) <br>
K: Yes (0.98), No (0.01), Table (0.0) <br>
O: No (0.82), Yes (0.14), Unknown (0.02)
</p>
<p> Thought: The table that does not have a wooden surface is the one with the highest No value or the lowest Yes value (if none are No). The answer is O (the highest No value). </p>
<p> Plan: </p>
<p style="color: #38761d">
1. Go to object O <br>
2. Done
</p>
</div>
<div class="tcolumn">
<h3> PG-InstructBLIP (ours) </h3>
<p> Thought: I can first ask which objects are tables out of all the objects I can carry. Of these tables, I can ask which does not have a wooden surface. </p>
<p> Question about [A, B, C, D, E, F, G, H, I, J, K, L, M, N, O]: Is this object a table? </p>
<p style="color: #ff9900"> Answer <br>
A: No (0.94), Yes (0.05), Unknown (0.0) <br>
B: No (0.75), Yes (0.22), Unknown (0.02) <br>
C: No (0.95), Yes (0.03), Unknown (0.01) <br>
D: No (0.8), Yes (0.16), Unknown (0.02) <br>
E: No (0.73), Yes (0.23), Unknown (0.02) <br>
F: Yes (0.9), No (0.1), Table (0.0) <br>
G: Yes (0.98), No (0.01), Table (0.0) <br>
H: Yes (0.92), No (0.07), Table (0.0) <br>
I: No (0.97), Yes (0.02), Chair (0.0) <br>
J: No (0.73), Yes (0.2), Chair (0.05) <br>
K: Yes (0.98), No (0.01), Table (0.0) <br>
L: No (0.84), Yes (0.13), Unknown (0.01) <br>
M: No (0.95), Yes (0.03), Couch (0.01) <br>
N: No (0.92), Yes (0.05), Chair (0.02) <br>
O: Yes (0.77), No (0.21), Table (0.01)
</p>
<p> Thought: The objects that are confidently Yes are F, K, and O. I should ask which of these does not have a wooden surface next. </p>
<p> Question about [F, K, O]: Does this object have a wooden surface? </p>
<p style="color: #ff9900"> Answer <br>
F: Yes (0.97), No (0.02), Wood (0.0) <br>
K: Yes (0.99), No (0.01), Wood (0.0) <br>
O: No (0.72), Yes (0.25), Unknown (0.01)
</p>
<p> Thought: The table that does not have a wooden surface is the one with the highest No value or the lowest Yes value (if none are No). Since some of the answers are No, the answer is O (the highest no value). </p>
<p> Plan: </p>
<p style="color: #38761d">
1. Go to object O <br>
2. Done
</p>
</div>
</div>
</div>
</div>
</body>
</html>