Multi-Granularity Language-Guided Imitation Learning via Instruction Decomposition

Abstract

Using language instructions as conditions to guide robot policy learning has recently become an important research domain. However, existing language-guided policy learning methods typically use an overall task description to guide the entire demonstration trajectory. For manipulation tasks involving multiple execution stages, these methods assign the same language description to different subtasks, making it difficult to distinguish the behaviors required at different stages. In this work, we propose a multi-granularity language guidance method based on instruction decomposition. The proposed method decomposes an overall task description into more fine-grained, concrete subtask-level language instructions, thereby enhancing learning efficiency and improving performance. We evaluate the proposed method in the setting of multi-task imitation learning and validate its effectiveness.