ERRA: An Embodied Representation and Reasoning Architecture for Long-Horizon Language-Conditioned Manipulation Tasks

This letter introduces ERRA, an embodied learning architecture that enables robots to jointly obtain three funda- mental capabilities (reasoning, planning, and interaction) for solving long-horizon language-conditioned manipulation tasks. ERRA is based on tightly-coupled probabilistic inferences at two granularity levels. Coarse-resolution inference is formulated as sequence generation through a large language model, which infers action language from natural language instruction and environment state. The robot then zooms to the fine-resolution inference part to perform the concrete action corresponding to the action language. Fine-resolution inference is constructed as a Markov decision process, which takes action language and environmental sensing as observations and outputs the action. The results of action execution in environments provide feedback for subsequent coarse-resolution reasoning. Such coarse- to-fine inference allows the robot to decompose and achieve long- horizon tasks interactively. In extensive experiments, we show that ERRA can complete various long-horizon manipulation tasks specified by abstract language instructions. We also demonstrate successful generalization to the novel but similar natural language instructions.