Reference Wording Shapes Retrieval of Robot Task Instructions
Identifying a robot task from a short instruction is sensitive to which descriptions are available for retrieval. We investigate this effect in the natural-language instructions included with the RLBench manipulation benchmark. We extract 296 fixed descriptions from 62 publicly available task files and compare five training-free lexical rankers over 80 random choices of one indexed description per task. Exact strings assigned to conflicting task labels are excluded from the primary score. Character n-gram TF-IDF achieves 61.3% mean top-1 accuracy on the resulting held-out instructions, compared with 55.6% for BM25 and 54.9% for word TF-IDF. Across gallery choices, character TF-IDF ranges ...
| Authors | Jahnavi Yelamanchi |
|---|---|
| Primary category | cs.AI |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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