{"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/language-conditioned-change-point-detection","title":"Language-Conditioned Change-point Detection to Identify Sub-Tasks in Robotics Domains","arxiv_id":"2309.00743","date":"2023-09-01","proceeding":null,"authors":["Divyanshu Raj","Chitta Baral","Nakul Gopalan"],"abstract":"In this work, we present an approach to identify sub-tasks within a demonstrated robot trajectory using language instructions. We identify these sub-tasks using language provided during demonstrations as guidance to identify sub-segments of a longer robot trajectory. Given a sequence of natural language instructions and a long trajectory consisting of image frames and discrete actions, we want to map an instruction to a smaller fragment of the trajectory. Unlike previous instruction following works which directly learn the mapping from language to a policy, we propose a language-conditioned change-point detection method to identify sub-tasks in a problem. Our approach learns the relationship between constituent segments of a long language command and corresponding constituent segments of a trajectory. These constituent trajectory segments can be used to learn subtasks or sub-goals for planning or options as demonstrated by previous related work. Our insight in this work is that the language-conditioned robot change-point detection problem is similar to the existing video moment retrieval works used to identify sub-segments within online videos. Through extensive experimentation, we demonstrate a $1.78_{\\pm 0.82}\\%$ improvement over a baseline approach in accurately identifying sub-tasks within a trajectory using our proposed method. Moreover, we present a comprehensive study investigating sample complexity requirements on learning this mapping, between language and trajectory sub-segments, to understand if the video retrieval-based methods are realistic in real robot scenarios.","url_abs":"https://arxiv.org/abs/2309.00743v1","url_pdf":"https://arxiv.org/pdf/2309.00743v1.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":"language-conditioned-change-point-detection","repo_url":"https://github.com/divraz/TaskSegmentation","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"change-point-detection","task_name":"Change Point Detection"},{"task_slug":"instruction-following","task_name":"Instruction Following"},{"task_slug":"moment-retrieval","task_name":"Moment Retrieval"},{"task_slug":"retrieval","task_name":"Retrieval"},{"task_slug":"video-retrieval","task_name":"Video Retrieval"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}