125 karma · joined December 12, 2015
I feel like the bottleneck is getting access to paired (language, other modality) data though (if your other modality isn't images). i.e. "bolt on generalization" is an intuitively appealing concept, but then it reduces to the hard problem of "how do I learn to ground language to e.g. my robot action space?" I haven't seen a robotics + language paper that actually grapples with the grounding problem / tries to think about how to scale the data collection process for language-conditioned robotics beyond annotating your own dataset as a proof-of-concept. Unlike language modeling / CLIP-type pretraining, it seems (fundamentally?) more difficult to find natural sources of supervision of (language, action). I'd be curious about your thoughts on this!
> When it comes to combining natural language with robots, the obvious take is to use it as an input-output modality for human-robot interaction. The robot would understand human language inputs and potentially converse with the human. But if you accept that “generalization is language”, then language models have a far bigger role to play than just being the “UX layer for robots”.
You should check out Jacob Andreas's work, if you haven't seen it already - esp. his stuff on learning from latent language (https://arxiv.org/abs/1711.00482).
This might be true for academics in ancient Greek literature, but certainly isn't true for academics in CS nowadays. If you don't have good taste in research problems that are {important for downstream industry applications, scientifically interesting, tractable}, you won't get anything done, and you won't get published. If anything, the pressure for academics to develop good taste is stronger than for people designing product. You can have a product that provides just one utility that users desperately need and have terrible taste for all the other axes that make a product "good," and do just fine. Academic papers get judged (in peer review / traction after publication) purely against the taste and aesthetics of other people in your community.
Seven Sketches in Compositionality: An Invitation to Applied Category Theory https://arxiv.org/abs/1803.05316
Applied Category Theory mini-course: https://ocw.mit.edu/courses/mathematics/18-s097-applied-cate...
Programming with Categories mini-course (with Bartosz Milewski): http://brendanfong.com/programmingcats.html
+ Jon Gjengset's writeup on some of the "gotcha"s: https://thesquareplanet.com/blog/students-guide-to-raft/
https://onezero.medium.com/900-000-americans-tell-google-the...