# A Data Source for Reasoning Embodied Agents

arXiv: https://arxiv.org/abs/2309.07974 · HTML: https://mlsanity.com/paper/2309.07974/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Spatial and embodied reasoning, one of 17 directions in LLM reasoning.
- Builds on 53 of its 59 references that are in the map.
- First posted on arXiv 14 Sep 2023.

## Placed in

- LLM reasoning / [Spatial and embodied reasoning](https://mlsanity.com/lr/spatial-and-embodied-reasoning/)
- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 30 of 53)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Self-Consistency Improves Chain of Thought Reasoning in Language Models](https://mlsanity.com/paper/2203.11171/) (2022)
- [PaLM: Scaling Language Modeling with Pathways](https://mlsanity.com/paper/2204.02311/) (2022)
- [SQuAD: 100,000+ Questions for Machine Comprehension of Text](https://mlsanity.com/paper/1606.05250/) (2016)
- [HotpotQA: A Dataset for Diverse, Explainable Multi-hop Question Answering](https://mlsanity.com/paper/1809.09600/) (2018)
- [OPT: Open Pre-trained Transformer Language Models](https://mlsanity.com/paper/2205.01068/) (2022)
- [Longformer: The Long-Document Transformer](https://mlsanity.com/paper/2004.05150/) (2020)
- [Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations](https://mlsanity.com/paper/1602.07332/) (2016)
- [VQA: Visual Question Answering](https://mlsanity.com/paper/1505.00468/) (2015)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [HuggingFace's Transformers: State-of-the-art Natural Language Processing](https://mlsanity.com/paper/1910.03771/) (2019)
- [CommonsenseQA: A Question Answering Challenge Targeting Commonsense Knowledge](https://mlsanity.com/paper/1811.00937/) (2018)
- [Rethinking Attention with Performers](https://mlsanity.com/paper/2009.14794/) (2020)
- [CLEVR: A Diagnostic Dataset for Compositional Language and Elementary Visual Reasoning](https://mlsanity.com/paper/1612.06890/) (2016)
- [Self-Attention with Relative Position Representations](https://mlsanity.com/paper/1803.02155/) (2018)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Show Your Work: Scratchpads for Intermediate Computation with Language Models](https://mlsanity.com/paper/2112.00114/) (2021)
- [Object-Centric Learning with Slot Attention](https://mlsanity.com/paper/2006.15055/) (2020)
- [Compressive Transformers for Long-Range Sequence Modelling](https://mlsanity.com/paper/1911.05507/) (2019)
- [Universal Transformers](https://mlsanity.com/paper/1807.03819/) (2018)
- [KILT: a Benchmark for Knowledge Intensive Language Tasks](https://mlsanity.com/paper/2009.02252/) (2020)
- [Compositional Semantic Parsing on Semi-Structured Tables](https://mlsanity.com/paper/1508.00305/) (2015)
- [CLEVRER: CoLlision Events for Video REpresentation and Reasoning](https://mlsanity.com/paper/1910.01442/) (2019)
- [MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge](https://mlsanity.com/paper/2206.08853/) (2022)
- [RAT-SQL: Relation-Aware Schema Encoding and Linking for Text-to-SQL Parsers](https://mlsanity.com/paper/1911.04942/) (2019)
- [TaBERT: Pretraining for Joint Understanding of Textual and Tabular Data](https://mlsanity.com/paper/2005.08314/) (2020)
- [Video PreTraining (VPT): Learning to Act by Watching Unlabeled Online Videos](https://mlsanity.com/paper/2206.11795/) (2022)
- [Embodied Question Answering](https://mlsanity.com/paper/1711.11543/) (2017)

## Built on by (most cited first, 1 of 1)

- [A Graph-to-Text Approach to Knowledge-Grounded Response Generation in Human-Robot Interaction](https://mlsanity.com/paper/2311.16137/) (2023)

## Abstract (arXiv)

Recent progress in using machine learning models for reasoning tasks has been driven by novel model architectures, large-scale pre-training protocols, and dedicated reasoning datasets for fine-tuning. In this work, to further pursue these advances, we introduce a new data generator for machine reasoning that integrates with an embodied agent. The generated data consists of templated text queries and answers, matched with world-states encoded into a database. The world-states are a result of both world dynamics and the actions of the agent. We show the results of several baseline models on instantiations of train sets. These include pre-trained language models fine-tuned on a text-formatted representation of the database, and graph-structured Transformers operating on a knowledge-graph representation of the database. We find that these models can answer some questions about the world-state, but struggle with others. These results hint at new research directions in designing neural reasoning models and database representations. Code to generate the data will be released at github.com/facebookresearch/neuralmemory