Action Sequence Transfer via LLMs for Heterogeneous Environments

Abstract:We present an action sequence transfer system that adaptively transfers user action sequences across different target spaces. Given an input action sequence from a source space and scene graph representations of both the source and target environments, our system predicts a corresponding action sequence in the target space by adapting to the spatial and object constraints of the new environment. To achieve this, we leverage multi-level representations of user activity to generalize actions at varying levels of abstraction. To demonstrate our system, we collect a new scene graph-based dataset derived from the Ego4D GoalStep dataset for evaluation. Results indicate that our system can generate valid action sequences even between spaces with drastically different object configurations.

Robotics (cs.RO)

arXiv:2609.34730 [cs.RO]

(or arXiv:2609.34730v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.34730 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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