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Creative Robot Tool Use by Counterfactual Reasoning

์ž‘์„ฑ์ž
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์ €์ž

M. Tuluhan Akbulut, Varun Satheesh, Ahmed Jaafar, Alper Ahmetoglu, Shane Parr, Aditya Ganeshan, Shivam Vats, George Konidaris

๐Ÿ’ก ๊ฐœ์š”

๋ณธ ๋…ผ๋ฌธ์€ ๋กœ๋ด‡์ด ์ฃผ๋กœ ์˜๋„๋œ ๋ชฉ์  ์™ธ์˜ ์ƒํ™ฉ์—์„œ๋„ ์ฐฝ์˜์ ์œผ๋กœ ๋„๊ตฌ๋ฅผ ์‚ฌ์šฉํ•  ์ˆ˜ ์žˆ๋„๋ก ์ง€์›ํ•˜๋Š” ์ธ๊ณผ ์ถ”๋ก  ๊ธฐ๋ฐ˜ ํ”„๋ ˆ์ž„์›Œํฌ๋ฅผ ์ œ์•ˆํ•ฉ๋‹ˆ๋‹ค. ์ด ํ”„๋ ˆ์ž„์›Œํฌ๋Š” ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ์‹คํ—˜์„ ํ†ตํ•ด ๋„๊ตฌ์™€ ์ž‘์—… ๊ฐ„์˜ ์ธ๊ณผ ๊ด€๊ณ„๋ฅผ ๋ฐœ๊ฒฌํ•˜๊ณ , ๋Œ€๊ทœ๋ชจ ์‹œ๊ฐ-์–ธ์–ด ๋ชจ๋ธ(VLM) ๊ธฐ๋ฐ˜ ํŠน์ง• ์ œ์•ˆ๊ณผ ๊ธฐํ•˜ํ•™์ /๋ฌผ๋ฆฌ์  ํŠน์ง• ๊ต๋ž€์„ ํ†ตํ•œ ๋ฐ˜์‚ฌ์‹ค์  ๋„๊ตฌ ์ƒ์„ฑ์„ ๊ฒฐํ•ฉํ•˜์—ฌ ์ƒˆ๋กœ์šด ๋ฌผ์ฒด๋ฅผ ๋ถ„๋ฅ˜ํ•ฉ๋‹ˆ๋‹ค. ์ด๋ฅผ ํ†ตํ•ด ๋„๊ตฌ ์‚ฌ์šฉ ๊ธฐ์ˆ ์„ ํšจ๊ณผ์ ์œผ๋กœ ์ „๋‹ฌํ•˜๊ณ  ๋ฌผ๋ฆฌ์  ์ œ์•ฝ ์กฐ๊ฑด ๋‚ด์—์„œ ์‹ ๋ขฐ์„ฑ ์žˆ๋Š” ๋„๊ตฌ ์„ ํƒ ๋ฐ ๊ธฐ์ˆ  ์ด์ „์„ ๋‹ฌ์„ฑํ•ฉ๋‹ˆ๋‹ค.

๐Ÿ”‘ ์‹œ์‚ฌ์  ๋ฐ ํ•œ๊ณ„

โ€ข
๊ธฐ์กด ๋„๊ตฌ ์‚ฌ์šฉ์„ ๋„˜์–ด์„  ์ฐฝ์˜์ ์ธ ๋„๊ตฌ ํ™œ์šฉ ๊ฐ€๋Šฅ์„ฑ์„ ์ธ๊ณผ ์ถ”๋ก ๊ณผ ๋ฐ˜์‚ฌ์‹ค์  ์‚ฌ๊ณ ๋ฅผ ํ†ตํ•ด ํ™•์žฅํ•ฉ๋‹ˆ๋‹ค.
โ€ข
๋Œ€๊ทœ๋ชจ ์‹œ๊ฐ-์–ธ์–ด ๋ชจ๋ธ๊ณผ ๋ฌผ๋ฆฌ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ๊ฒฐํ•ฉํ•˜์—ฌ ๋กœ๋ด‡์ด ์‹ค์ œ ๋ฌผ๋ฆฌ ๋ฒ•์น™์— ๊ธฐ๋ฐ˜ํ•œ ๋„๊ตฌ ์‚ฌ์šฉ ๋Šฅ๋ ฅ์„ ํ•™์Šตํ•  ์ˆ˜ ์žˆ๋„๋ก ํ•ฉ๋‹ˆ๋‹ค.
โ€ข
์ œ์•ˆ๋œ ๋ฐฉ๋ฒ•๋ก ์€ ๋‹ค์–‘ํ•œ ์‹ค์ œ ์‹œ๋‚˜๋ฆฌ์˜ค(๋ง‰๋Œ€๊ธฐ๋ฅผ ์ด์šฉํ•œ ์›๊ฑฐ๋ฆฌ ๋ฌผ์ฒด ํš๋“, ๋‹ค์–‘ํ•œ ๋„๊ตฌ๋ฅผ ์ด์šฉํ•œ ์บ”๋”” scooping, ์ƒ์ž๋ฅผ ์ด์šฉํ•œ ๋†’์€ ์„ ๋ฐ˜ ๋ฌผ์ฒด ํš๋“)์—์„œ ๋›ฐ์–ด๋‚œ ์„ฑ๋Šฅ์„ ์ž…์ฆํ•ฉ๋‹ˆ๋‹ค.
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๋ฐ˜์‚ฌ์‹ค์  ๋„๊ตฌ ์ƒ์„ฑ์„ ์œ„ํ•œ ๊ธฐํ•˜ํ•™์  ๋ฐ ๋ฌผ๋ฆฌ์  ํŠน์ง• ๊ต๋ž€์˜ ๋ฒ”์œ„๋ฅผ ๋”์šฑ ํ™•์žฅํ•˜๊ณ , ๋‹ค์–‘ํ•œ ์ข…๋ฅ˜์˜ ๋ณต์žกํ•œ ์ž‘์—…์— ๋Œ€ํ•œ ์ผ๋ฐ˜ํ™” ์„ฑ๋Šฅ์„ ๋†’์ด๋Š” ์—ฐ๊ตฌ๊ฐ€ ํ•„์š”ํ•ฉ๋‹ˆ๋‹ค.
๐Ÿ‘
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