Despite recent progress, learning new tasks through language instructions
remains an extremely challenging problem. On the ALFRED benchmark for task
learning, the published state-of-the-art system only achieves a task success
rate of less than 10% in an unseen environment, compared to the human
performance of over 90%. To address this issue, this paper takes a closer look
at task learning. In a departure from a widely applied end-to-end architecture,
we decomposed task learning into three sub-problems: sub-goal planning, scene
navigation, and object manipulation; and developed a model HiTUT (stands for
Hierarchical Tasks via Unified Transformers) that addresses each sub-problem in
a unified manner to learn a hierarchical task structure. On the ALFRED
benchmark, HiTUT has achieved the best performance with a remarkably higher
generalization ability. In the unseen environment, HiTUT achieves over 160%
performance gain in success rate compared to the previous state of the art. The
explicit representation of task structures also enables an in-depth
understanding of the nature of the problem and the ability of the agent, which
provides insight for future benchmark development and evaluation.

本文提出一个名称为 HiTUT 的模型，将任务学习分解成三个子问题：子目标规划、场景导航和物体操作，并统一解决了每个子问题，以学习分层任务结构。在 ALFRED 基准测试中，HiTUT 表现出最好的性能和更高的泛化能力。