{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/grounding-language-with-visual-affordances","title":"Grounding Language with Visual Affordances over Unstructured Data","arxiv_id":"2210.01911","date":"2022-10-04","proceeding":null,"authors":["Oier Mees","Jessica Borja-Diaz","Wolfram Burgard"],"abstract":"Recent works have shown that Large Language Models (LLMs) can be applied to ground natural language to a wide variety of robot skills. However, in practice, learning multi-task, language-conditioned robotic skills typically requires large-scale data collection and frequent human intervention to reset the environment or help correcting the current policies. In this work, we propose a novel approach to efficiently learn general-purpose language-conditioned robot skills from unstructured, offline and reset-free data in the real world by exploiting a self-supervised visuo-lingual affordance model, which requires annotating as little as 1% of the total data with language. We evaluate our method in extensive experiments both in simulated and real-world robotic tasks, achieving state-of-the-art performance on the challenging CALVIN benchmark and learning over 25 distinct visuomotor manipulation tasks with a single policy in the real world. We find that when paired with LLMs to break down abstract natural language instructions into subgoals via few-shot prompting, our method is capable of completing long-horizon, multi-tier tasks in the real world, while requiring an order of magnitude less data than previous approaches. Code and videos are available at http://hulc2.cs.uni-freiburg.de","url_abs":"https://arxiv.org/abs/2210.01911v3","url_pdf":"https://arxiv.org/pdf/2210.01911v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"grounding-language-with-visual-affordances","repo_url":"https://github.com/mees/hulc2","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"avg-sequence-length","task_name":"Avg. sequence length"},{"task_slug":"success-rate-5-task-horizon","task_name":"Success Rate (5 task-horizon)"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2210.01911","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2210.01911"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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