This is the code repository for the following publication:

Yihao Wang, Raphael Memmesheimer, and Sven Behnke: LIAM: Multimodal Transformer for Language Instructions, Images, Actions and Semantic Maps at the 19th International Conference on Intelligent Autonomous Systems (IAS) in Genoa, Italy

A preprint can be found on arXiv

essential packages for the code, please check requirements.txt

Download Alfred dataset, please check: https://github.com/askforalfred/alfred

If you want to try a lighter backbone, i.e., MobileCLIP, please install from their official repo: https://github.com/apple/ml-mobileclip

pretraining: All the pretraining and preprocessing code

model: end-to-end model for generating action sequence

dataset: Dataset for end-to-end training.

@inproceedings{Wang2023LIAM,
  title={LIAM: Multimodal Transformer for Language Instructions, Images, Actions and Semantic Maps},
  author={Wang, Yihao and Memmesheimer, Raphael and Behnke, Sven},
  conference={19th International Conference on Intelligent Autonomous Systems (IAS)},
  year={2023},
  location={Genoa, Italy}
}