OPEx: A Large Language Model-Powered Framework for Embodied Instruction Following
Bibliographic record
Abstract
Embodied Instruction Following (EIF) is crucial for understanding natural language in a practical context, requiring agents to follow verbal instructions for complex tasks. Traditionally, EIF relies heavily on expert annotations for learning, which are costly and sometimes unattainable. Recent research shows Large Language Models (LLMs) can use their reasoning ability to help in EIF with minimal examples, but applying LLMs directly faces issues like hallucinations and partially observable environment. To bridge the gap, we introduce OPEx, a new LLM-based method for EIF that needs far less specific data. OPEx uses three LLMs for different roles: observing to gather environment data, planning by breaking down instructions, and executing tasks with learned skills. Our tests reveal OPEx significantly outperforms the FILM baseline, with 90% less training data for planning tasks and achieving up to 38% performance gain when FILM is trained on identical data.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.005 |
| Meta-epidemiology (narrow) | 0.002 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.002 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.002 | 0.003 |
| Open science | 0.004 | 0.004 |
| Research integrity | 0.002 | 0.003 |
| Insufficient payload (model declined to judge) | 0.015 | 0.005 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".