7. Challenges
● 口語表現の多様性
“a bear doll”, “the animal plushie”,
“that fluffy thing”, “up -side-down
grizzly”
“grab X”, “bring together X and Y”,
“move X to a diagonal box”
● 指示の曖昧性やあやまり
“that brown one”, “a dog doll?”
8. Human : the one next to the eraser box .
Robot : I got it.
Human : hey can you move that brown
fluffy thing to the bottom right?
Robot : which one do you mean?
10. データセット
grab the human face labeled
object and put it in the …
move the round object with
multiple holes to upper …
In the bottom left box find the
empty open soda can …
Put the box with a 50 written
on it that is with Kleenex …
Publicly available as PFN-PIC dataset:
https://github.com/pfnet-research/picking-
instruction
1200シーン100種類の日用品
7万の自然な口語指示文
(語彙サイズ:5000)