Toward Grounded Social Reasoning
Authors: name: Minae Kwon; name: Hengyuan Hu; name: Vivek Myers; name: Siddharth Karamcheti; name: Anca Dragan; name: Dorsa Sadigh
Published: 2023-06-14 17:30:57

Abstract: Consider a robot tasked with tidying a desk with a meticulously constructed
Lego sports car. A human may recognize that it is not socially appropriate to
disassemble the sports car and put it away as part of the "tidying". How can a
robot reach that conclusion? Although large language models (LLMs) have
recently been used to enable social reasoning, grounding this reasoning in the
real world has been challenging. To reason in the real world, robots must go
beyond passively querying LLMs and *actively gather information from the
environment* that is required to make the right decision. For instance, after
detecting that there is an occluded car, the robot may need to actively
perceive the car to know whether it is an advanced model car made out of Legos
or a toy car built by a toddler. We propose an approach that leverages an LLM
and vision language model (VLM) to help a robot actively perceive its
environment to perform grounded social reasoning. To evaluate our framework at
scale, we release the MessySurfaces dataset which contains images of 70
real-world surfaces that need to be cleaned. We additionally illustrate our
approach with a robot on 2 carefully designed surfaces. We find an average
12.9% improvement on the MessySurfaces benchmark and an average 15% improvement
on the robot experiments over baselines that do not use active perception. The
dataset, code, and videos of our approach can be found at
https://minaek.github.io/groundedsocialreasoning.