PaLM-SayCan

<!DOCTYPE html> <html lang="en" scs-locale="root" kcs-locale="" path="/palm-saycan/"> <head> <meta charset="utf-8"> <meta content="initial-scale=1, minimum-scale=1, width=device-width" name="viewport"> <title>PaLM-SayCan</title> <meta name="description" content="Google Research and Everyday Robots are using machine learning and natural language understanding to better interact with helper robots." /> <meta name="referrer" content="no-referrer" /> <meta property="og:title" content="PaLM-SayCan" /> <meta property="og:description" content="Google Research and Everyday Robots are using machine learning and natural language understanding to better interact with helper robots." /> <meta property="og:image" content="https://lh3.googleusercontent.com/Skr97B2qYNyhNjwXPk4my9OcstNU9xeYV3xF1VHqm72dVwi-AmlNHGqnCfmdlK7G3o8iR2zVsvq2_BNvbOUrS-EyaglzpM5r8o7yuGeJw7bGAw7NuFc" /> <meta property="og:image:width" content="225" /> <meta property="og:image:height" content="224" /> <link rel="icon" 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title="Google" aria-label="Go to Google Research official website"> <div class="glue-header__logo-container"> <svg class="glue-header__logo-svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#google-color-logo"></use> </svg> </div> <span class="glue-header__logo--product">Research</span> </a> </div> </div> </div> <div class="glue-header__container glue-header__container--linkbar"> <nav class="glue-header__link-bar"> </nav> </div> <div class="glue-header__container glue-header__container--cta"> <div class="glue-header__cta"> <a aria-label="Jump to demo" href="#how-palm-works" class="glue-button glue-button--high-emphasis glue-button--rounded-border"> See how it works</a> </div> </div> </div> </div> <div class="glue-header__drawer-backdrop"></div> </header> <main> <div class="modular-page"> <div class="glue-page _1 title-blocks"> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-2"></div> <div class="glue-grid__col glue-grid__col--span-8"> <h1 class="glue-headline glue-headline--headline-1 glue-text-center" aria-label="Using language to better interact with helper robots." >Using <span class="text--blue">language</span> to better interact with <span class="text--join"><span class="text--yellow">helper robots</span>.</span></h1> </div> </div> </div> <div class="spacer-module spacer-sm3"></div> <div class="glue-page markdown-blocks _headline-description"> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-3"></div> <div class="glue-grid__col glue-grid__col--span-6"> <div class="markdown-blocks__text glue-text-center"> <p><a href="https://g.co/robotics" target="_blank">Google Research</a> and <a href="https://everydayrobots.com/" target="_blank">Everyday Robots</a> are bringing together cutting‑edge, natural language research with robots that can learn.</p> </div> </div> </div> </div> <div class="spacer-module spacer-sm3"></div> <div class="image-lists"> <div class="image__container"> <a href="https://g.co/robotics" target="_blank" aria-label="Google Research" class="image"> <picture class="image" >  <source srcset="https://lh3.googleusercontent.com/Ah6YZDSG2ej5GImu-PT48cTxA9BcOhCnO9xj20XhUvmICs81-i_Haa64skG1CP3Dkx3g1-aNzV7IlYeNXYrugIF8Hrz4iXu7jW0RWnqUFwg3al3B_Qc=w207-rp, https://lh3.googleusercontent.com/Ah6YZDSG2ej5GImu-PT48cTxA9BcOhCnO9xj20XhUvmICs81-i_Haa64skG1CP3Dkx3g1-aNzV7IlYeNXYrugIF8Hrz4iXu7jW0RWnqUFwg3al3B_Qc=w414-rp 2x" media="(min-width: 600px)" > <source srcset="https://lh3.googleusercontent.com/Ah6YZDSG2ej5GImu-PT48cTxA9BcOhCnO9xj20XhUvmICs81-i_Haa64skG1CP3Dkx3g1-aNzV7IlYeNXYrugIF8Hrz4iXu7jW0RWnqUFwg3al3B_Qc=w130-rp, https://lh3.googleusercontent.com/Ah6YZDSG2ej5GImu-PT48cTxA9BcOhCnO9xj20XhUvmICs81-i_Haa64skG1CP3Dkx3g1-aNzV7IlYeNXYrugIF8Hrz4iXu7jW0RWnqUFwg3al3B_Qc=w260-rp 2x" >  <img src="https://lh3.googleusercontent.com/Ah6YZDSG2ej5GImu-PT48cTxA9BcOhCnO9xj20XhUvmICs81-i_Haa64skG1CP3Dkx3g1-aNzV7IlYeNXYrugIF8Hrz4iXu7jW0RWnqUFwg3al3B_Qc=w130-rp" class="" alt="Google Research"> </picture> </a> </div> <div class="image__container"> <a href="https://everydayrobots.com/" target="_blank" aria-label="Everyday Robots" class="image"> <picture class="image" >  <source srcset="https://lh3.googleusercontent.com/J6Y1jUJRsadWNw2duOVrpyfK_ofmg7usBDOmfxUJPe3dGhWOgySQf9QjerN2OmDFkrYEc5mA4ezAERHF1Gd8hgwFzh40SKkn7iFHXtQLrTVvRVEE=w207-rp, https://lh3.googleusercontent.com/J6Y1jUJRsadWNw2duOVrpyfK_ofmg7usBDOmfxUJPe3dGhWOgySQf9QjerN2OmDFkrYEc5mA4ezAERHF1Gd8hgwFzh40SKkn7iFHXtQLrTVvRVEE=w414-rp 2x" media="(min-width: 600px)" > <source srcset="https://lh3.googleusercontent.com/J6Y1jUJRsadWNw2duOVrpyfK_ofmg7usBDOmfxUJPe3dGhWOgySQf9QjerN2OmDFkrYEc5mA4ezAERHF1Gd8hgwFzh40SKkn7iFHXtQLrTVvRVEE=w150-rp, https://lh3.googleusercontent.com/J6Y1jUJRsadWNw2duOVrpyfK_ofmg7usBDOmfxUJPe3dGhWOgySQf9QjerN2OmDFkrYEc5mA4ezAERHF1Gd8hgwFzh40SKkn7iFHXtQLrTVvRVEE=w300-rp 2x" >  <img src="https://lh3.googleusercontent.com/J6Y1jUJRsadWNw2duOVrpyfK_ofmg7usBDOmfxUJPe3dGhWOgySQf9QjerN2OmDFkrYEc5mA4ezAERHF1Gd8hgwFzh40SKkn7iFHXtQLrTVvRVEE=w150-rp" class="" alt="Everyday Robots"> </picture> </a> </div> </div> <div id="hero-cta-container" class="containers hero-cta-container"> <div class="glue-page containers-content"> <div class="spacer-module spacer-sm4"></div><section class="call-to-actions glue-page glue-text-center"> <a class="glue-button glue-button--high-emphasis glue-button--rounded-border" href="#how-palm-works" aria-label="Jump to demo" > See how it works </a> </section> </div> </div> <div class="spacer-module spacer-sm7"></div> <section class="glue-video glue-page"> <div class="glue-video-container"> <div class="glue-video__preview-container glue-video__preview-container--inline"> <picture class="glue-video__preview" >  <source srcset="https://lh3.googleusercontent.com/IsbRJ4iaTu5gdT82ctsDnn8nuZ23fNnpwb3ogcDitKeHxo9Rr2gUy0xXp5LsdBlkMx4vwI5JdTfV-gAVpuwrWthVbvW3JoHVPyMqRTGXg6i_Fs9Qh_k=w2588-l90-sg-rj-c0xffffff, https://lh3.googleusercontent.com/IsbRJ4iaTu5gdT82ctsDnn8nuZ23fNnpwb3ogcDitKeHxo9Rr2gUy0xXp5LsdBlkMx4vwI5JdTfV-gAVpuwrWthVbvW3JoHVPyMqRTGXg6i_Fs9Qh_k=w5176-l90-sg-rj-c0xffffff 2x" >  <img src="https://lh3.googleusercontent.com/IsbRJ4iaTu5gdT82ctsDnn8nuZ23fNnpwb3ogcDitKeHxo9Rr2gUy0xXp5LsdBlkMx4vwI5JdTfV-gAVpuwrWthVbvW3JoHVPyMqRTGXg6i_Fs9Qh_k=w2588-l90-sg-rj-c0xffffff" class="" alt="Google researchers and an Everyday Robots helper robot working together to complete various tasks."> </picture> <div class="glue-video__info"> <svg class="glue-icon glue-video__play-button glue-video__play-button--white" role="presentation"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#play"></use> </svg> </div> </div> <div class="glue-video__container glue-video__container--inline" data-glue-yt-video-vid="E2g1APtSuUM"> </div> <div class="glue-video__nojs"> <p><a href="https://www.youtube.com/watch?v=E2g1APtSuUM">Link to Youtube Video</a></p> </div> </div> </section> <div class="spacer-module spacer-sm3 spacer-md6"></div> <div class="_ callouts-module"> <div class="glue-page"> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-1"></div> <div class="glue-grid__col glue-grid__col--span-10"> <span class="callouts-module__tip"> Google Research's state-of-the-art language model, PaLM, can solve complex math word problems, answer questions in new languages, and explain jokes. <svg width="62" height="186" viewBox="0 0 62 186" fill="none"> <path fill-rule="evenodd" clip-rule="evenodd" d="M56.5995 180.305C12.7917 140.94 1.99999 83.8344 1.99999 1.51714e-05L-8.12204e-06 1.52588e-05C-7.76597e-06 83.9716 10.7836 141.915 55.3887 181.906C55.2985 182.191 55.2498 182.495 55.2498 182.811C55.2498 184.467 56.593 185.811 58.2498 185.811C59.9067 185.811 61.2498 184.467 61.2498 182.811C61.2498 181.154 59.9067 179.811 58.2498 179.811C57.6401 179.811 57.0729 179.992 56.5995 180.305Z" fill="#202124"/> </svg> <svg width="4" height="161" viewBox="0 0 4 161" fill="none" mobile-only class="--short"> <path fill-rule="evenodd" clip-rule="evenodd" d="M1.5 157.028C0.637388 157.25 2.56317e-07 158.033 1.74846e-07 158.965C7.8281e-08 160.069 0.895431 160.965 2 160.965C3.10457 160.965 4 160.069 4 158.965C4 158.033 3.36262 157.25 2.5 157.028L2.49998 -1.31137e-07L1.49998 -2.1856e-07L1.5 157.028Z" fill="#202124"/> </svg> <svg width="6" height="230" viewBox="0 0 6 230" fill="none" mobile-only class="--long"> <path fill-rule="evenodd" clip-rule="evenodd" d="M2 224.136C0.83481 224.547 3.76462e-07 225.659 2.62268e-07 226.965C1.17422e-07 228.622 1.34315 229.965 3 229.965C4.65685 229.965 6 228.622 6 226.965C6 225.659 5.16519 224.547 4 224.136L3.99998 -1.74849e-07L1.99998 -3.49695e-07L2 224.136Z" fill="#202124"/> </svg> </span> <h2 class="callouts-module__content"> Introducing PaLM-SayCan,<br class="mobile-only"> a robotics algorithm<br> that <br class="mobile-only">combines the understanding of<br><br class="mobile-only"> <span class="text--blue text--blue--small">language models</span> with the real-<br class="mobile-only">world capabilities<br> of a <br class="mobile-only"><span class="text--yellow text--yellow--small">helper robot</span>. </h2> <span class="callouts-module__tip"> Everyday Robots' helper robots show the potential for more helpful, human-centered robots in the future. <svg width="6" height="76" viewBox="0 0 6 76" fill="none"> <path fill-rule="evenodd" clip-rule="evenodd" d="M4.00005 5.82928C5.16522 5.41743 6 4.3062 6 3C6 1.34315 4.65685 0 3 0C1.34315 0 0 1.34315 0 3C0 4.30624 0.834832 5.41749 2.00005 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fill="#202124"/> </svg> <svg width="4" height="70" viewBox="0 0 4 70" fill="none" mobile-only> <path fill-rule="evenodd" clip-rule="evenodd" d="M2.50898 69.5001C2.50934 58.382 2.50915 39.5303 2.50898 22.6873L2.50883 3.9348C3.36696 3.70972 4.00001 2.92883 4.00001 2.0001C4.00001 0.895531 3.10458 9.91038e-05 2.00001 9.90073e-05C0.895437 9.89107e-05 5.99759e-06 0.89553 5.90103e-06 2.0001C5.81928e-06 2.9352 0.641744 3.72041 1.50883 3.93934L1.50898 22.6859L1.50898 22.7197C1.50915 39.5545 1.50934 58.3891 1.50898 69.5L2.50898 69.5001Z" fill="#202124"/> </svg> </span> </div> </div> </div> </div> <div class="spacer-module spacer-sm7"></div> <div class="containers containers--border containers--border-blue-600"> <div class="glue-page containers-content"> <div class="spacer-module spacer-sm6"></div><div class="glue-page _2 title-blocks" id="how-palm-works"> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-2"></div> <div class="glue-grid__col glue-grid__col--span-8"> <h2 class="glue-headline glue-headline--headline-2 glue-text-center" aria-label="How PaLM-SayCan Works" >How PaLM-SayCan Works</h2> </div> </div> </div> <div class="spacer-module spacer-sm4"></div><div class="glue-page markdown-blocks _this-demo-shows"> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-2"></div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="markdown-blocks__text glue-text-center"> <p>This demo shows a PaLM-enabled helper robot performing a series of complex tasks using chain of thought prompting and the step-by-step solution needed to carry out the requests.</p> </div> </div> </div> </div> <div class="spacer-module spacer-sm5"></div><div class="steppers"> <div class="steppers-step"> <div class="steppers-step__dot">1</div> <p class="steppers-step__description">Select a task for the helper robot</p> </div> <div class="steppers-step"> <div class="steppers-step__dot">2</div> <p class="steppers-step__description">See how PaLM-SayCan interprets the task</p> </div> <div class="steppers-step"> <div class="steppers-step__dot">3</div> <p class="steppers-step__description">See how the helper robot executes the task</p> </div> <div class="steppers-step"> <div class="steppers-step__dot">4</div> <p class="steppers-step__description">Learn the step-by-step solution behind PaLM-SayCan</p> </div> </div> <div class="spacer-module spacer-sm5"></div><section class="call-to-actions glue-page glue-text-center"> <a class="glue-button glue-button--high-emphasis glue-button--rounded-border" href="#tasks" aria-label="" > Jump to tasks </a> </section> <div class="spacer-module spacer-sm6"></div> </div> </div> <div class="spacer-module spacer-sm7"></div> <div class="say-can-experiences"> <div class="sticky-nav"> <div class="glue-jumplinks" role="navigation"> <button class="glue-jumplinks__button glue-jumplinks__button--prev" tabindex="-1" aria-hidden="true"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--18px"><use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use></svg> </button> <ul class="glue-jumplinks__list"> <li class="glue-jumplinks__list-item"> <a class="glue-jumplinks__link" href="#task" aria-label="Task Jump to page section"> 1. Task </a> </li> <li class="glue-jumplinks__list-item"> <a class="glue-jumplinks__link" href="#interpretation" aria-label="Interpretation Jump to page section"> 2. Interpretation </a> </li> <li class="glue-jumplinks__list-item"> <a class="glue-jumplinks__link" href="#execution" aria-label="Execution Jump to page section"> 3. Execution </a> </li> <li class="glue-jumplinks__list-item"> <a class="glue-jumplinks__link" href="#step-by-step-solution" aria-label="Step-by-Step Solution Jump to page section"> 4. Step-by-Step Solution </a> </li> </ul> <button class="glue-jumplinks__button glue-jumplinks__button--next" tabindex="-1" aria-hidden="true"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--18px"><use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use></svg> </button> </div> </div> <div class="say-can-experiences__prompt-page" id="task"> <div class="glue-page prompt" id="tasks"> <div class="prompt__content"> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-3 prompt--center prompt__side-content glue-order-1 glue-order-2-md glue-order-2-lg glue-order-2-xl"> <div class="prompt__text-content"> <div class="prompt__line glue-spacer-3-bottom"></div> <p>Robots struggle to understand complex instructions that require reasoning. By using an advanced language model, PaLM-SayCan splits prompts into sub-tasks for the helper robot to execute, one-by-one. This also makes it a lot easier for people to get help from robots – just ask using everyday language.</p> <br> <p><span></span>As you can see, these four tasks start the same, but have varying ends. See how slightly changing the request affects the interpretation.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-9 glue-order-2 glue-order-1-md glue-order-1-lg glue-order-1-xl"> <h3 class="prompt__list-title glue-headline">Select a task</h3> <div class="prompt__list"> <a class="prompt__item selected" href="#interpretation" aria-label="I just worked out. Can you bring me a drink and a snack to recover?"> <div class="prompt__svg-container"> <svg class="prompt__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> </div> <span class="glue-headline glue-headline--headline-4 prompt__main-text">I just worked out. Can you bring me a drink and a snack to recover?</span> </a> <a class="prompt__item" href="#interpretation" aria-label="I don’t like caffeinated soda. Can you bring me something else to drink from the table?"> <div class="prompt__svg-container"> <svg class="prompt__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> </div> <span class="glue-headline glue-headline--headline-4 prompt__main-text">I don’t like caffeinated soda. Can you bring me something else to drink from the table?</span> </a> <a class="prompt__item" href="#interpretation" aria-label="I’m tired. Bring me a snack that’ll give me some energy, please."> <div class="prompt__svg-container"> <svg class="prompt__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> </div> <span class="glue-headline glue-headline--headline-4 prompt__main-text">I’m tired. Bring me a snack that’ll give me some energy, please.</span> </a> <a class="prompt__item" href="#interpretation" aria-label="That snack is too small. Bring me one that is more filling."> <div class="prompt__svg-container"> <svg class="prompt__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> </div> <span class="glue-headline glue-headline--headline-4 prompt__main-text">That snack is too small. Bring me one that is more filling.</span> </a> <a class="prompt__item" href="#interpretation" aria-label="I spilled my orange soda. Can you bring me a replacement, please?"> <div class="prompt__svg-container prompt__svg-container--is-variation"> <svg class="prompt__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> </div> <span class="glue-headline glue-headline--headline-4 prompt__main-text">I spilled my orange soda. Can you bring me a replacement, please?</span> </a> <a class="prompt__item" href="#interpretation" aria-label="I spilled my orange soda. Can you bring me something to clean it up, please?"> <div class="prompt__svg-container prompt__svg-container--is-variation"> <svg class="prompt__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> </div> <span class="glue-headline glue-headline--headline-4 prompt__main-text">I spilled my orange soda. Can you bring me something to clean it up, please?</span> </a> <a class="prompt__item" href="#interpretation" aria-label="I spilled my orange soda. Can you throw it away, please?"> <div class="prompt__svg-container prompt__svg-container--is-variation"> <svg class="prompt__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> </div> <span class="glue-headline glue-headline--headline-4 prompt__main-text">I spilled my orange soda. Can you throw it away, please?</span> </a> <a class="prompt__item" href="#interpretation" aria-label="I spilled my orange soda. Can you throw it away, bring me something to help clean it up, and then bring me a replacement?"> <div class="prompt__svg-container prompt__svg-container--is-variation"> <svg class="prompt__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> </div> <span class="glue-headline glue-headline--headline-4 prompt__main-text">I spilled my orange soda. Can you throw it away, bring me something to help clean it up, and then bring me a replacement?</span> </a> </div> </div> </div> </div> </div> </div> <div class="say-can-experiences__interpretation-page" id="interpretation"> <div class="glue-page interpretation"> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-9 content-switch"> <div class="interpretation__content show"> <div class="interpretation__title-content"> <svg class="interpretation__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> <h2 class="interpretation__human-text glue-spacer-5-bottom"> I just worked out. Can you bring me a drink and a snack to recover? </h2> </div> <div class="interpretation__robot-response" role="presentation" aria-hidden="true"> <svg class="interpretation__svg"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot"></use> </svg> <p class="interpretation__dialog"> The user has asked for a drink and a snack. I will bring a water bottle and an apple. </p> </div> </div> <div class="interpretation__content"> <div class="interpretation__title-content"> <svg class="interpretation__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> <h2 class="interpretation__human-text glue-spacer-5-bottom"> I don’t like caffeinated soda. Can you bring me something else to drink from the table? </h2> </div> <div class="interpretation__robot-response" role="presentation" aria-hidden="true"> <svg class="interpretation__svg"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot"></use> </svg> <p class="interpretation__dialog"> The user has asked me to bring a drink that isn't caffeinated. I will bring the water bottle. </p> </div> </div> <div class="interpretation__content"> <div class="interpretation__title-content"> <svg class="interpretation__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> <h2 class="interpretation__human-text glue-spacer-5-bottom"> I’m tired. Bring me a snack that’ll give me some energy, please. </h2> </div> <div class="interpretation__robot-response" role="presentation" aria-hidden="true"> <svg class="interpretation__svg"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot"></use> </svg> <p class="interpretation__dialog"> The user has asked me to bring a snack that has energy. I will bring an energy bar. </p> </div> </div> <div class="interpretation__content"> <div class="interpretation__title-content"> <svg class="interpretation__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> <h2 class="interpretation__human-text glue-spacer-5-bottom"> That snack is too small. Bring me one that is more filling. </h2> </div> <div class="interpretation__robot-response" role="presentation" aria-hidden="true"> <svg class="interpretation__svg"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot"></use> </svg> <p class="interpretation__dialog"> The user has asked for a snack that is more filling. I will bring multigrain chips. </p> </div> </div> <div class="interpretation__content"> <div class="interpretation__title-content"> <svg class="interpretation__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> <h2 class="interpretation__human-text glue-spacer-5-bottom"> I spilled my orange soda. Can you bring me a replacement, please? </h2> </div> <div class="interpretation__robot-response" role="presentation" aria-hidden="true"> <svg class="interpretation__svg"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot"></use> </svg> <p class="interpretation__dialog"> The user has asked me to bring them a replacement for their orange soda. I will bring them a new one. </p> </div> </div> <div class="interpretation__content"> <div class="interpretation__title-content"> <svg class="interpretation__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> <h2 class="interpretation__human-text glue-spacer-5-bottom"> I spilled my orange soda. Can you bring me something to clean it up, please? </h2> </div> <div class="interpretation__robot-response" role="presentation" aria-hidden="true"> <svg class="interpretation__svg"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot"></use> </svg> <p class="interpretation__dialog"> The user has asked me to bring something to clean up the orange soda. I will bring the sponge. </p> </div> </div> <div class="interpretation__content"> <div class="interpretation__title-content"> <svg class="interpretation__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> <h2 class="interpretation__human-text glue-spacer-5-bottom"> I spilled my orange soda. Can you throw it away, please? </h2> </div> <div class="interpretation__robot-response" role="presentation" aria-hidden="true"> <svg class="interpretation__svg"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot"></use> </svg> <p class="interpretation__dialog"> The user has asked me to throw away the orange soda. I will move it to the trash. </p> </div> </div> <div class="interpretation__content"> <div class="interpretation__title-content"> <svg class="interpretation__svg" role="presentation" aria-hidden="true"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue"></use> </svg> <h2 class="interpretation__human-text glue-spacer-5-bottom"> I spilled my orange soda. Can you throw it away, bring me something to help clean it up, and then bring me a replacement? </h2> </div> <div class="interpretation__robot-response" role="presentation" aria-hidden="true"> <svg class="interpretation__svg"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot"></use> </svg> <p class="interpretation__dialog"> The user has asked me to do three tasks. I will do one and then the other. </p> </div> </div> </div> <div class="glue-grid__col glue-grid__col--span-3 interpretation__side-content"> <div class="interpretation__text-content"> <div class="interpretation__line glue-spacer-3-bottom"></div> <p> After a task has been requested, PaLM-SayCan uses chain of thought prompting, which interprets the instruction in order to score the likelihood that an individual skill makes progress towards completing the high-level request. </p> </div> </div> </div> </div> </div> <div class="say-can-experiences__video-page" id="execution"> <div class="execution"> <div class="content-switch"> <div class="execution__video show"> <video class="execution__video-desktop" disableRemotePlayback muted loop playsinline> <source src="https://kstatic.googleusercontent.com/files/f74fc8dd31845a9ab1e550e6b5ae8916c62db5d142370519360451be6abdaeeb3fe2deb551c41f0db534830d7aa6dd60d0e21d140ee315c2ffd5357169d89aed" alt="" type="video/mp4"> </video> <div class="execution__text-container"> <div class="glue-page"> <div class="execution__text"> <div class="execution__line glue-spacer-3-bottom"></div> <p>Unlike typical robotic demos that perform a single task in a constrained environment, this research shows you can ask an <a href="https://everydayrobots.com/" target="_blank">Everyday Robots</a> helper robot for assistance, and it can carry out the request in a real-world environment using reasoning.</p> <p>Multiple safety layers exist on the helper robot, including hardware safety layers, e‑stop, and move‑to‑contact behaviors.</p> </div> </div> </div> </div> <div class="execution__video"> <video class="execution__video-desktop" disableRemotePlayback muted loop playsinline> <source src="https://kstatic.googleusercontent.com/files/a4f562b61d3df9f2e470298d720bf6217532d64887ca13c9000b88b0c359d64cb3da7ad686f15358dc92749808b3e0fb5d040c367e160bf56c0206d987b7b851" alt="" type="video/mp4"> </video> <div class="execution__text-container"> <div class="glue-page"> <div class="execution__text"> <div class="execution__line glue-spacer-3-bottom"></div> <p>Unlike typical robotic demos that perform a single task in a constrained environment, this research shows you can ask an <a href="https://everydayrobots.com/" target="_blank">Everyday Robots</a> helper robot for assistance, and it can carry out the request in a real-world environment using reasoning.</p> <p>Multiple safety layers exist on the helper robot, including hardware safety layers, e‑stop, and move‑to‑contact behaviors.</p> </div> </div> </div> </div> <div class="execution__video"> <video class="execution__video-desktop" disableRemotePlayback muted loop playsinline> <source src="https://kstatic.googleusercontent.com/files/b86ea817d2acee0e225d1e74e93a5ffea34a1b7812e03fd11193987545542d137465f73eb3b0ddca1435968bedb1168eba885f722ad75a6ac221ebaf28172f03" alt="" type="video/mp4"> </video> <div class="execution__text-container"> <div class="glue-page"> <div class="execution__text"> <div class="execution__line glue-spacer-3-bottom"></div> <p>Unlike typical robotic demos that perform a single task in a constrained environment, this research shows you can ask an <a href="https://everydayrobots.com/" target="_blank">Everyday Robots</a> helper robot for assistance, and it can carry out the request in a real-world environment using reasoning.</p> <p>Multiple safety layers exist on the helper robot, including hardware safety layers, e‑stop, and move‑to‑contact behaviors.</p> </div> </div> </div> </div> <div class="execution__video"> <video class="execution__video-desktop" disableRemotePlayback muted loop playsinline> <source src="https://kstatic.googleusercontent.com/files/485ae3eede0ef27cbb12ced49cb45e29c8bdde08e1058674eb8361e802557a1f8dfe75c145be2e501eff015a51b394dc0f5fb32a9b3c998017194b3eaf706fa6" alt="" type="video/mp4"> </video> <div class="execution__text-container"> <div class="glue-page"> <div class="execution__text"> <div class="execution__line glue-spacer-3-bottom"></div> <p>Unlike typical robotic demos that perform a single task in a constrained environment, this research shows you can ask an <a href="https://everydayrobots.com/" target="_blank">Everyday Robots</a> helper robot for assistance, and it can carry out the request in a real-world environment using reasoning.</p> <p>Multiple safety layers exist on the helper robot, including hardware safety layers, e‑stop, and move‑to‑contact behaviors.</p> </div> </div> </div> </div> <div class="execution__video"> <video class="execution__video-desktop" disableRemotePlayback muted loop playsinline> <source src="https://kstatic.googleusercontent.com/files/f24cc6cbb031b53132cfbe1f2ebc370a52928f87af3165d9a5670eec347e7e5df330438db30da2d5ef1292ff2b336543fccfee20a3184a6d948b976559589af2" alt="" type="video/mp4"> </video> <div class="execution__text-container"> <div class="glue-page"> <div class="execution__text"> <div class="execution__line glue-spacer-3-bottom"></div> <p>Unlike typical robotic demos that perform a single task in a constrained environment, this research shows you can ask an <a href="https://everydayrobots.com/" target="_blank">Everyday Robots</a> helper robot for assistance, and it can carry out the request in a real-world environment using reasoning.</p> <p>Multiple safety layers exist on the helper robot, including hardware safety layers, e‑stop, and move‑to‑contact behaviors.</p> </div> </div> </div> </div> <div class="execution__video"> <video class="execution__video-desktop" disableRemotePlayback muted loop playsinline> <source src="https://kstatic.googleusercontent.com/files/e6ef9853c1faa98149f079163ee781a0668437f32c595a9f056d27f01e2131a88950268c16dbad489e73cbb6d51285bd226b217f2dad1c8999981ca027080f0b" alt="" type="video/mp4"> </video> <div class="execution__text-container"> <div class="glue-page"> <div class="execution__text"> <div class="execution__line glue-spacer-3-bottom"></div> <p>Unlike typical robotic demos that perform a single task in a constrained environment, this research shows you can ask an <a href="https://everydayrobots.com/" target="_blank">Everyday Robots</a> helper robot for assistance, and it can carry out the request in a real-world environment using reasoning.</p> <p>Multiple safety layers exist on the helper robot, including hardware safety layers, e‑stop, and move‑to‑contact behaviors.</p> </div> </div> </div> </div> <div class="execution__video"> <video class="execution__video-desktop" disableRemotePlayback muted loop playsinline> <source src="https://kstatic.googleusercontent.com/files/90dcd48a3fb1dbf60bb45da795f321415c26547aaefef03311a1c780e18d9a05e89b719bff137b6e121a655fce133abd7eb0877f561879b6fcd22906bba49f5c" alt="" type="video/mp4"> </video> <div class="execution__text-container"> <div class="glue-page"> <div class="execution__text"> <div class="execution__line glue-spacer-3-bottom"></div> <p>Unlike typical robotic demos that perform a single task in a constrained environment, this research shows you can ask an <a href="https://everydayrobots.com/" target="_blank">Everyday Robots</a> helper robot for assistance, and it can carry out the request in a real-world environment using reasoning.</p> <p>Multiple safety layers exist on the helper robot, including hardware safety layers, e‑stop, and move‑to‑contact behaviors.</p> </div> </div> </div> </div> <div class="execution__video"> <video class="execution__video-desktop" disableRemotePlayback muted loop playsinline> <source src="https://kstatic.googleusercontent.com/files/bf63394049489b492bd7bc87162bc3156dce151a5ad3fd126ac26663cd0115a5896135110d1f25c03ac53f738da04b55959f8f0917e7fac7abec94e0347bc305" alt="" type="video/mp4"> </video> <div class="execution__text-container"> <div class="glue-page"> <div class="execution__text"> <div class="execution__line glue-spacer-3-bottom"></div> <p>Unlike typical robotic demos that perform a single task in a constrained environment, this research shows you can ask an <a href="https://everydayrobots.com/" target="_blank">Everyday Robots</a> helper robot for assistance, and it can carry out the request in a real-world environment using reasoning.</p> <p>Multiple safety layers exist on the helper robot, including hardware safety layers, e‑stop, and move‑to‑contact behaviors.</p> </div> </div> </div> </div> </div> </div> </div> <div class="say-can-experiences__breakdown" id="step-by-step-solution"> <div class="glue-page step-by-step content-switch"> <div class="execution-breakdown__container show"> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Prompt</h2> <p>This is the request the human has given the robot. PaLM-SayCan is constrained to commands that are safe for a robot to perform.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue-inverted"></use> </svg> <p>I just worked out. Can you bring me a drink and a snack to recover?</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Interpretation</h2> <p>This is how the language model has interpreted the request through chain of thought prompting.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot-yellow"></use> </svg> <p>The user has asked for a drink and a snack. I will bring a water bottle and an apple.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="glue-carousel execution step-by-step__item-list" aria-label=""> <h2>Execution</h2> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item" id="work-out-glue-carousel-1" aria-label="Step 1"> <p>PaLM-SayCan is highly interpretable. We can clearly examine and learn from every decision the system makes. The language model first scores whether each step is useful for completing the task.</p> </div> <div class="glue-carousel__item" id="work-out-glue-carousel-2" aria-label="Step 2"> <p>The affordance model scores whether each step is possible for the robot and environment.</p> </div> <div class="glue-carousel__item" id="work-out-glue-carousel-3" aria-label="Step 3"> <p>These scores are combined and the highest combination is chosen. This gives a step that is possible and useful for the request. The robot then executes that step and repeats this process in the new state.</p> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="execution-breakdown__card"> <div class="execution-breakdown" data-animate="True"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8403" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1754" data-affordance-score="0.9143" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.19</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0018" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0007" data-affordance-score="0.8403" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> <ul class="execution-breakdown__reference"> <li>Language</li> <li>Affordance</li> <li>Combined score</li> </ul> </div> </div> </div> <div class="glue-expansion-panels" data-glue-expansion-panels-key="execution-breakdown-panel-group-0"> <div class="glue-expansion-panel execution-breakdown__list-panel"> <h3 class="glue-expansion-panel__toggle"> <span class="glue-expansion-panel__button" data-glue-expansion-panel-toggle-for="execution-breakdown-content-0"> <span class="glue-expansion-panel__header-text glue-body"> See how the helper robot uses PaLM-SayCan to breakdown and execute successfully. </span> <svg role="presentation" aria-hidden="true" class="glue-icon glue-expansion-panel__header-arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#expand-more"></use> </svg> </span> </h3> <div class="glue-expansion-panel__content" id="execution-breakdown-content-0" data-glue-expansion-panel-initial="expanded"> <ol class="execution-breakdown__list"> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8403" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1754" data-affordance-score="0.9143" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.19</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0018" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0007" data-affordance-score="0.8403" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7462" > <p class="execution-breakdown__option-title">pick up the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0018" data-affordance-score="0.8610" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0017" data-affordance-score="0.7898" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.5703" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7896" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0548" data-affordance-score="0.8607" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.06</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.2565" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.7644" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0100" data-affordance-score="0.8672" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0023" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0021" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8669" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0025" data-affordance-score="0.8793" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0121" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.7899" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.7899" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.2670" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.8645" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.2209" > <p class="execution-breakdown__option-title">pick up the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.1892" > <p class="execution-breakdown__option-title">pick up the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8644" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8964" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.6835" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0009" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0058" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8697" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7917" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8814" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> </ol> <div class="glue-carousel execution-breakdown__carousel" aria-label=""> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item execution-breakdown__carousel-item" id="work-out-execution-1" aria-label="Step 1"> <span class="execution-breakdown__carousel-item__index">1.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8403" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1754" data-affordance-score="0.9143" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.19</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0018" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0007" data-affordance-score="0.8403" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="work-out-execution-2" aria-label="Step 2"> <span class="execution-breakdown__carousel-item__index">2.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7462" > <p class="execution-breakdown__option-title">pick up the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0018" data-affordance-score="0.8610" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0017" data-affordance-score="0.7898" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.5703" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="work-out-execution-3" aria-label="Step 3"> <span class="execution-breakdown__carousel-item__index">3.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7896" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0548" data-affordance-score="0.8607" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.06</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.2565" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.7644" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="work-out-execution-4" aria-label="Step 4"> <span class="execution-breakdown__carousel-item__index">4.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0100" data-affordance-score="0.8672" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0023" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0021" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="work-out-execution-5" aria-label="Step 5"> <span class="execution-breakdown__carousel-item__index">5.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8669" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0025" data-affordance-score="0.8793" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0121" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.7899" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.7899" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="work-out-execution-6" aria-label="Step 6"> <span class="execution-breakdown__carousel-item__index">6.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.2670" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.8645" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.2209" > <p class="execution-breakdown__option-title">pick up the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.1892" > <p class="execution-breakdown__option-title">pick up the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="work-out-execution-7" aria-label="Step 7"> <span class="execution-breakdown__carousel-item__index">7.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8644" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8964" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.6835" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="work-out-execution-8" aria-label="Step 8"> <span class="execution-breakdown__carousel-item__index">8.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0009" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0058" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="work-out-execution-9" aria-label="Step 9"> <span class="execution-breakdown__carousel-item__index">9.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8697" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7917" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8814" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> </div> </div> </div> <div class="execution-breakdown__container"> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Prompt</h2> <p>This is the request the human has given the robot. PaLM-SayCan is constrained to commands that are safe for a robot to perform.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue-inverted"></use> </svg> <p>I don’t like caffeinated soda. Can you bring me something else to drink from the table?</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Interpretation</h2> <p>This is how the language model has interpreted the request through chain of thought prompting.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot-yellow"></use> </svg> <p>The user has asked me to bring a drink that isn't caffeinated. I will bring the water bottle.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="glue-carousel execution step-by-step__item-list" aria-label=""> <h2>Execution</h2> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item" id="dont-like-caffeinated-soda-glue-carousel-1" aria-label="Step 1"> <p>PaLM-SayCan is highly interpretable. We can clearly examine and learn from every decision the system makes. The language model first scores whether each step is useful for completing the task.</p> </div> <div class="glue-carousel__item" id="dont-like-caffeinated-soda-glue-carousel-2" aria-label="Step 2"> <p>The affordance model scores whether each step is possible for the robot and environment.</p> </div> <div class="glue-carousel__item" id="dont-like-caffeinated-soda-glue-carousel-3" aria-label="Step 3"> <p>These scores are combined and the highest combination is chosen. This gives a step that is possible and useful for the request. The robot then executes that step and repeats this process in the new state.</p> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="execution-breakdown__card"> <div class="execution-breakdown" data-animate="True"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8422" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0181" data-affordance-score="0.9181" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0043" data-affordance-score="0.8422" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0031" data-affordance-score="0.9181" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0025" data-affordance-score="0.9181" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> <ul class="execution-breakdown__reference"> <li>Language</li> <li>Affordance</li> <li>Combined score</li> </ul> </div> </div> </div> <div class="glue-expansion-panels" data-glue-expansion-panels-key="execution-breakdown-panel-group-1"> <div class="glue-expansion-panel execution-breakdown__list-panel"> <h3 class="glue-expansion-panel__toggle"> <span class="glue-expansion-panel__button" data-glue-expansion-panel-toggle-for="execution-breakdown-content-1"> <span class="glue-expansion-panel__header-text glue-body"> See how the helper robot uses PaLM-SayCan to breakdown and execute successfully. </span> <svg role="presentation" aria-hidden="true" class="glue-icon glue-expansion-panel__header-arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#expand-more"></use> </svg> </span> </h3> <div class="glue-expansion-panel__content" id="execution-breakdown-content-1" data-glue-expansion-panel-initial="expanded"> <ol class="execution-breakdown__list"> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8422" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0181" data-affordance-score="0.9181" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0043" data-affordance-score="0.8422" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0031" data-affordance-score="0.9181" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0025" data-affordance-score="0.9181" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.6539" > <p class="execution-breakdown__option-title">pick up the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0025" data-affordance-score="0.7903" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0017" data-affordance-score="0.7650" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="0.3017" > <p class="execution-breakdown__option-title">pick up the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7903" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0012" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0007" data-affordance-score="0.7651" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">pick up the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0166" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7901" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">find a pepsi</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> </ol> <div class="glue-carousel execution-breakdown__carousel" aria-label=""> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item execution-breakdown__carousel-item" id="dont-like-caffeinated-soda-execution-1" aria-label="Step 1"> <span class="execution-breakdown__carousel-item__index">1.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8422" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0181" data-affordance-score="0.9181" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0043" data-affordance-score="0.8422" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0031" data-affordance-score="0.9181" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0025" data-affordance-score="0.9181" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="dont-like-caffeinated-soda-execution-2" aria-label="Step 2"> <span class="execution-breakdown__carousel-item__index">2.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.6539" > <p class="execution-breakdown__option-title">pick up the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0025" data-affordance-score="0.7903" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0017" data-affordance-score="0.7650" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="0.3017" > <p class="execution-breakdown__option-title">pick up the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="dont-like-caffeinated-soda-execution-3" aria-label="Step 3"> <span class="execution-breakdown__carousel-item__index">3.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7903" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0012" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0007" data-affordance-score="0.7651" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">pick up the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="dont-like-caffeinated-soda-execution-4" aria-label="Step 4"> <span class="execution-breakdown__carousel-item__index">4.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0166" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="dont-like-caffeinated-soda-execution-5" aria-label="Step 5"> <span class="execution-breakdown__carousel-item__index">5.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7901" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">find a pepsi</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> </div> </div> </div> <div class="execution-breakdown__container"> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Prompt</h2> <p>This is the request the human has given the robot. PaLM-SayCan is constrained to commands that are safe for a robot to perform.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue-inverted"></use> </svg> <p>I’m tired. Bring me a snack that’ll give me some energy, please.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Interpretation</h2> <p>This is how the language model has interpreted the request through chain of thought prompting.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot-yellow"></use> </svg> <p>The user has asked me to bring a snack that has energy. I will bring an energy bar.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="glue-carousel execution step-by-step__item-list" aria-label=""> <h2>Execution</h2> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item" id="tired-bring-me-a-snack-glue-carousel-1" aria-label="Step 1"> <p>PaLM-SayCan is highly interpretable. We can clearly examine and learn from every decision the system makes. The language model first scores whether each step is useful for completing the task.</p> </div> <div class="glue-carousel__item" id="tired-bring-me-a-snack-glue-carousel-2" aria-label="Step 2"> <p>The affordance model scores whether each step is possible for the robot and environment.</p> </div> <div class="glue-carousel__item" id="tired-bring-me-a-snack-glue-carousel-3" aria-label="Step 3"> <p>These scores are combined and the highest combination is chosen. This gives a step that is possible and useful for the request. The robot then executes that step and repeats this process in the new state.</p> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="execution-breakdown__card"> <div class="execution-breakdown" data-animate="True"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.9137" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.8407" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8407" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> <ul class="execution-breakdown__reference"> <li>Language</li> <li>Affordance</li> <li>Combined score</li> </ul> </div> </div> </div> <div class="glue-expansion-panels" data-glue-expansion-panels-key="execution-breakdown-panel-group-2"> <div class="glue-expansion-panel execution-breakdown__list-panel"> <h3 class="glue-expansion-panel__toggle"> <span class="glue-expansion-panel__button" data-glue-expansion-panel-toggle-for="execution-breakdown-content-2"> <span class="glue-expansion-panel__header-text glue-body"> See how the helper robot uses PaLM-SayCan to breakdown and execute successfully. </span> <svg role="presentation" aria-hidden="true" class="glue-icon glue-expansion-panel__header-arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#expand-more"></use> </svg> </span> </h3> <div class="glue-expansion-panel__content" id="execution-breakdown-content-2" data-glue-expansion-panel-initial="expanded"> <ol class="execution-breakdown__list"> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.9137" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.8407" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8407" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8549" > <p class="execution-breakdown__option-title">pick up the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.8819" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.4103" > <p class="execution-breakdown__option-title">pick up the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.4031" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8823" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="-0.2000" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.6688" > <p class="execution-breakdown__option-title">pick up the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0009" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7901" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">find a coke</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">find a pepsi</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> </ol> <div class="glue-carousel execution-breakdown__carousel" aria-label=""> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item execution-breakdown__carousel-item" id="tired-bring-me-a-snack-execution-1" aria-label="Step 1"> <span class="execution-breakdown__carousel-item__index">1.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.9195" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.9137" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.8407" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8407" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="tired-bring-me-a-snack-execution-2" aria-label="Step 2"> <span class="execution-breakdown__carousel-item__index">2.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8549" > <p class="execution-breakdown__option-title">pick up the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.8819" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.4103" > <p class="execution-breakdown__option-title">pick up the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.4031" > <p class="execution-breakdown__option-title">pick up the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="tired-bring-me-a-snack-execution-3" aria-label="Step 3"> <span class="execution-breakdown__carousel-item__index">3.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8823" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="-0.2000" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.6688" > <p class="execution-breakdown__option-title">pick up the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="tired-bring-me-a-snack-execution-4" aria-label="Step 4"> <span class="execution-breakdown__carousel-item__index">4.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0009" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="tired-bring-me-a-snack-execution-5" aria-label="Step 5"> <span class="execution-breakdown__carousel-item__index">5.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7901" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">find a coke</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">find a pepsi</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> </div> </div> </div> <div class="execution-breakdown__container"> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Prompt</h2> <p>This is the request the human has given the robot. PaLM-SayCan is constrained to commands that are safe for a robot to perform.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue-inverted"></use> </svg> <p>That snack is too small. Bring me one that is more filling.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Interpretation</h2> <p>This is how the language model has interpreted the request through chain of thought prompting.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot-yellow"></use> </svg> <p>The user has asked for a snack that is more filling. I will bring multigrain chips.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="glue-carousel execution step-by-step__item-list" aria-label=""> <h2>Execution</h2> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item" id="small-snack-glue-carousel-1" aria-label="Step 1"> <p>PaLM-SayCan is highly interpretable. We can clearly examine and learn from every decision the system makes. The language model first scores whether each step is useful for completing the task.</p> </div> <div class="glue-carousel__item" id="small-snack-glue-carousel-2" aria-label="Step 2"> <p>The affordance model scores whether each step is possible for the robot and environment.</p> </div> <div class="glue-carousel__item" id="small-snack-glue-carousel-3" aria-label="Step 3"> <p>These scores are combined and the highest combination is chosen. This gives a step that is possible and useful for the request. The robot then executes that step and repeats this process in the new state.</p> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="execution-breakdown__card"> <div class="execution-breakdown" data-animate="True"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8624" > <p class="execution-breakdown__option-title">find the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0276" data-affordance-score="0.8805" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0233" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0236" data-affordance-score="0.8690" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0093" data-affordance-score="0.8624" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> <ul class="execution-breakdown__reference"> <li>Language</li> <li>Affordance</li> <li>Combined score</li> </ul> </div> </div> </div> <div class="glue-expansion-panels" data-glue-expansion-panels-key="execution-breakdown-panel-group-3"> <div class="glue-expansion-panel execution-breakdown__list-panel"> <h3 class="glue-expansion-panel__toggle"> <span class="glue-expansion-panel__button" data-glue-expansion-panel-toggle-for="execution-breakdown-content-3"> <span class="glue-expansion-panel__header-text glue-body"> See how the helper robot uses PaLM-SayCan to breakdown and execute successfully. </span> <svg role="presentation" aria-hidden="true" class="glue-icon glue-expansion-panel__header-arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#expand-more"></use> </svg> </span> </h3> <div class="glue-expansion-panel__content" id="execution-breakdown-content-3" data-glue-expansion-panel-initial="expanded"> <ol class="execution-breakdown__list"> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8624" > <p class="execution-breakdown__option-title">find the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0276" data-affordance-score="0.8805" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0233" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0236" data-affordance-score="0.8690" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0093" data-affordance-score="0.8624" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.2420" > <p class="execution-breakdown__option-title">pick up the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0015" data-affordance-score="0.8639" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.9383" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9234" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8634" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0011" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8405" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.9378" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0146" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9238" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9381" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9381" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9381" > <p class="execution-breakdown__option-title">find a grapefruit soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> </ol> <div class="glue-carousel execution-breakdown__carousel" aria-label=""> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item execution-breakdown__carousel-item" id="small-snack-execution-1" aria-label="Step 1"> <span class="execution-breakdown__carousel-item__index">1.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8624" > <p class="execution-breakdown__option-title">find the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0276" data-affordance-score="0.8805" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0233" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0236" data-affordance-score="0.8690" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0093" data-affordance-score="0.8624" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="small-snack-execution-2" aria-label="Step 2"> <span class="execution-breakdown__carousel-item__index">2.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.2420" > <p class="execution-breakdown__option-title">pick up the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0015" data-affordance-score="0.8639" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.9383" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9234" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="small-snack-execution-3" aria-label="Step 3"> <span class="execution-breakdown__carousel-item__index">3.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8634" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0011" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8405" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.9378" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="small-snack-execution-4" aria-label="Step 4"> <span class="execution-breakdown__carousel-item__index">4.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the multigrain chips</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0146" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="small-snack-execution-5" aria-label="Step 5"> <span class="execution-breakdown__carousel-item__index">5.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9238" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9381" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9381" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9381" > <p class="execution-breakdown__option-title">find a grapefruit soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> </div> </div> </div> <div class="execution-breakdown__container"> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Prompt</h2> <p>This is the request the human has given the robot. PaLM-SayCan is constrained to commands that are safe for a robot to perform.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue-inverted"></use> </svg> <p>I spilled my orange soda. Can you bring me a replacement, please?</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Interpretation</h2> <p>This is how the language model has interpreted the request through chain of thought prompting.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot-yellow"></use> </svg> <p>The user has asked me to bring them a replacement for their orange soda. I will bring them a new one.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="glue-carousel execution step-by-step__item-list" aria-label=""> <h2>Execution</h2> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item" id="orange-soda-glue-carousel-1" aria-label="Step 1"> <p>PaLM-SayCan is highly interpretable. We can clearly examine and learn from every decision the system makes. The language model first scores whether each step is useful for completing the task.</p> </div> <div class="glue-carousel__item" id="orange-soda-glue-carousel-2" aria-label="Step 2"> <p>The affordance model scores whether each step is possible for the robot and environment.</p> </div> <div class="glue-carousel__item" id="orange-soda-glue-carousel-3" aria-label="Step 3"> <p>These scores are combined and the highest combination is chosen. This gives a step that is possible and useful for the request. The robot then executes that step and repeats this process in the new state.</p> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="execution-breakdown__card"> <div class="execution-breakdown" data-animate="True"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8409" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0174" data-affordance-score="0.9182" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0015" data-affordance-score="0.9182" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.9182" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.8887" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> <ul class="execution-breakdown__reference"> <li>Language</li> <li>Affordance</li> <li>Combined score</li> </ul> </div> </div> </div> <div class="glue-expansion-panels" data-glue-expansion-panels-key="execution-breakdown-panel-group-4"> <div class="glue-expansion-panel execution-breakdown__list-panel"> <h3 class="glue-expansion-panel__toggle"> <span class="glue-expansion-panel__button" data-glue-expansion-panel-toggle-for="execution-breakdown-content-4"> <span class="glue-expansion-panel__header-text glue-body"> See how the helper robot uses PaLM-SayCan to breakdown and execute successfully. </span> <svg role="presentation" aria-hidden="true" class="glue-icon glue-expansion-panel__header-arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#expand-more"></use> </svg> </span> </h3> <div class="glue-expansion-panel__content" id="execution-breakdown-content-4" data-glue-expansion-panel-initial="expanded"> <ol class="execution-breakdown__list"> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8409" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0174" data-affordance-score="0.9182" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0015" data-affordance-score="0.9182" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.9182" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.8887" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.0200" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0028" data-affordance-score="0.7906" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.11</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7651" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7651" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7902" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="0.7647" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8629" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7647" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0082" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8807" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7904" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> </ol> <div class="glue-carousel execution-breakdown__carousel" aria-label=""> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-execution-1" aria-label="Step 1"> <span class="execution-breakdown__carousel-item__index">1.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8409" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0174" data-affordance-score="0.9182" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0015" data-affordance-score="0.9182" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0008" data-affordance-score="0.9182" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.8887" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-execution-2" aria-label="Step 2"> <span class="execution-breakdown__carousel-item__index">2.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.0200" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0028" data-affordance-score="0.7906" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.11</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7651" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7651" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-execution-3" aria-label="Step 3"> <span class="execution-breakdown__carousel-item__index">3.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7902" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="0.7647" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8629" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7647" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-execution-4" aria-label="Step 4"> <span class="execution-breakdown__carousel-item__index">4.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0082" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-execution-5" aria-label="Step 5"> <span class="execution-breakdown__carousel-item__index">5.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8807" > <p class="execution-breakdown__option-title">find a lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the lime soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7904" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> </div> </div> </div> <div class="execution-breakdown__container"> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Prompt</h2> <p>This is the request the human has given the robot. PaLM-SayCan is constrained to commands that are safe for a robot to perform.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue-inverted"></use> </svg> <p>I spilled my orange soda. Can you bring me something to clean it up, please?</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Interpretation</h2> <p>This is how the language model has interpreted the request through chain of thought prompting.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot-yellow"></use> </svg> <p>The user has asked me to bring something to clean up the orange soda. I will bring the sponge.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="glue-carousel execution step-by-step__item-list" aria-label=""> <h2>Execution</h2> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item" id="orange-soda-cleanup-glue-carousel-1" aria-label="Step 1"> <p>PaLM-SayCan is highly interpretable. We can clearly examine and learn from every decision the system makes. The language model first scores whether each step is useful for completing the task.</p> </div> <div class="glue-carousel__item" id="orange-soda-cleanup-glue-carousel-2" aria-label="Step 2"> <p>The affordance model scores whether each step is possible for the robot and environment.</p> </div> <div class="glue-carousel__item" id="orange-soda-cleanup-glue-carousel-3" aria-label="Step 3"> <p>These scores are combined and the highest combination is chosen. This gives a step that is possible and useful for the request. The robot then executes that step and repeats this process in the new state.</p> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="execution-breakdown__card"> <div class="execution-breakdown" data-animate="True"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7931" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1427" data-affordance-score="0.7931" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.14</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0019" data-affordance-score="0.8835" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0020" data-affordance-score="0.7931" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0014" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> <ul class="execution-breakdown__reference"> <li>Language</li> <li>Affordance</li> <li>Combined score</li> </ul> </div> </div> </div> <div class="glue-expansion-panels" data-glue-expansion-panels-key="execution-breakdown-panel-group-5"> <div class="glue-expansion-panel execution-breakdown__list-panel"> <h3 class="glue-expansion-panel__toggle"> <span class="glue-expansion-panel__button" data-glue-expansion-panel-toggle-for="execution-breakdown-content-5"> <span class="glue-expansion-panel__header-text glue-body"> See how the helper robot uses PaLM-SayCan to breakdown and execute successfully. </span> <svg role="presentation" aria-hidden="true" class="glue-icon glue-expansion-panel__header-arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#expand-more"></use> </svg> </span> </h3> <div class="glue-expansion-panel__content" id="execution-breakdown-content-5" data-glue-expansion-panel-initial="expanded"> <ol class="execution-breakdown__list"> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7931" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1427" data-affordance-score="0.7931" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.14</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0019" data-affordance-score="0.8835" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0020" data-affordance-score="0.7931" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0014" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.6409" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0120" data-affordance-score="0.7901" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0011" data-affordance-score="0.7623" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7649" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7899" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0023" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.7647" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8614" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1429" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0035" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.7913" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7913" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7913" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> </ol> <div class="glue-carousel execution-breakdown__carousel" aria-label=""> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-cleanup-execution-1" aria-label="Step 1"> <span class="execution-breakdown__carousel-item__index">1.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7931" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1427" data-affordance-score="0.7931" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.14</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0019" data-affordance-score="0.8835" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0020" data-affordance-score="0.7931" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0014" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-cleanup-execution-2" aria-label="Step 2"> <span class="execution-breakdown__carousel-item__index">2.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.6409" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0120" data-affordance-score="0.7901" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0011" data-affordance-score="0.7623" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7649" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-cleanup-execution-3" aria-label="Step 3"> <span class="execution-breakdown__carousel-item__index">3.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7899" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0023" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.7647" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8614" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-cleanup-execution-4" aria-label="Step 4"> <span class="execution-breakdown__carousel-item__index">4.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1429" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0035" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-cleanup-execution-5" aria-label="Step 5"> <span class="execution-breakdown__carousel-item__index">5.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.7913" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7913" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7913" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> </div> </div> </div> <div class="execution-breakdown__container"> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Prompt</h2> <p>This is the request the human has given the robot. PaLM-SayCan is constrained to commands that are safe for a robot to perform.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue-inverted"></use> </svg> <p>I spilled my orange soda. Can you throw it away, please?</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Interpretation</h2> <p>This is how the language model has interpreted the request through chain of thought prompting.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot-yellow"></use> </svg> <p>The user has asked me to throw away the orange soda. I will move it to the trash.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="glue-carousel execution step-by-step__item-list" aria-label=""> <h2>Execution</h2> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item" id="orange-soda-trash-glue-carousel-1" aria-label="Step 1"> <p>PaLM-SayCan is highly interpretable. We can clearly examine and learn from every decision the system makes. The language model first scores whether each step is useful for completing the task.</p> </div> <div class="glue-carousel__item" id="orange-soda-trash-glue-carousel-2" aria-label="Step 2"> <p>The affordance model scores whether each step is possible for the robot and environment.</p> </div> <div class="glue-carousel__item" id="orange-soda-trash-glue-carousel-3" aria-label="Step 3"> <p>These scores are combined and the highest combination is chosen. This gives a step that is possible and useful for the request. The robot then executes that step and repeats this process in the new state.</p> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="execution-breakdown__card"> <div class="execution-breakdown" data-animate="True"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8793" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0180" data-affordance-score="0.1237" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0022" data-affordance-score="0.8793" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0013" data-affordance-score="0.8853" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.8853" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> <ul class="execution-breakdown__reference"> <li>Language</li> <li>Affordance</li> <li>Combined score</li> </ul> </div> </div> </div> <div class="glue-expansion-panels" data-glue-expansion-panels-key="execution-breakdown-panel-group-6"> <div class="glue-expansion-panel execution-breakdown__list-panel"> <h3 class="glue-expansion-panel__toggle"> <span class="glue-expansion-panel__button" data-glue-expansion-panel-toggle-for="execution-breakdown-content-6"> <span class="glue-expansion-panel__header-text glue-body"> See how the helper robot uses PaLM-SayCan to breakdown and execute successfully. </span> <svg role="presentation" aria-hidden="true" class="glue-icon glue-expansion-panel__header-arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#expand-more"></use> </svg> </span> </h3> <div class="glue-expansion-panel__content" id="execution-breakdown-content-6" data-glue-expansion-panel-initial="expanded"> <ol class="execution-breakdown__list"> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8793" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0180" data-affordance-score="0.1237" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0022" data-affordance-score="0.8793" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0013" data-affordance-score="0.8853" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.8853" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.6455" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0025" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0031" data-affordance-score="0.8012" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.4264" > <p class="execution-breakdown__option-title">pick up the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7658" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8013" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0582" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.07</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0143" data-affordance-score="0.7911" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0023" data-affordance-score="0.7658" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.8623" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0015" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0036" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.8004" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8004" > <p class="execution-breakdown__option-title">find a orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9636" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> </ol> <div class="glue-carousel execution-breakdown__carousel" aria-label=""> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-trash-execution-1" aria-label="Step 1"> <span class="execution-breakdown__carousel-item__index">1.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8793" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0180" data-affordance-score="0.1237" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0022" data-affordance-score="0.8793" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0013" data-affordance-score="0.8853" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.8853" > <p class="execution-breakdown__option-title">find a redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-trash-execution-2" aria-label="Step 2"> <span class="execution-breakdown__carousel-item__index">2.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.6455" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0025" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0031" data-affordance-score="0.8012" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.4264" > <p class="execution-breakdown__option-title">pick up the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7658" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-trash-execution-3" aria-label="Step 3"> <span class="execution-breakdown__carousel-item__index">3.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8013" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0582" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.07</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0143" data-affordance-score="0.7911" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0023" data-affordance-score="0.7658" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.8623" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-trash-execution-4" aria-label="Step 4"> <span class="execution-breakdown__carousel-item__index">4.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0015" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0036" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-trash-execution-5" aria-label="Step 5"> <span class="execution-breakdown__carousel-item__index">5.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.8004" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8004" > <p class="execution-breakdown__option-title">find a orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.9636" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> </div> </div> </div> <div class="execution-breakdown__container"> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Prompt</h2> <p>This is the request the human has given the robot. PaLM-SayCan is constrained to commands that are safe for a robot to perform.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#person-blue-inverted"></use> </svg> <p>I spilled my orange soda. Can you throw it away, bring me something to help clean it up, and then bring me a replacement?</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid glue-spacer-3-bottom"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="step-by-step__item-list"> <h2>Interpretation</h2> <p>This is how the language model has interpreted the request through chain of thought prompting.</p> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="step-by-step__info"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-spacer-3-top"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#robot-yellow"></use> </svg> <p>The user has asked me to do three tasks. I will do one and then the other.</p> </div> </div> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-downward"></use> </svg> </div> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-4"> <div class="glue-carousel execution step-by-step__item-list" aria-label=""> <h2>Execution</h2> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item" id="orange-soda-all-glue-carousel-1" aria-label="Step 1"> <p>PaLM-SayCan is highly interpretable. We can clearly examine and learn from every decision the system makes. The language model first scores whether each step is useful for completing the task.</p> </div> <div class="glue-carousel__item" id="orange-soda-all-glue-carousel-2" aria-label="Step 2"> <p>The affordance model scores whether each step is possible for the robot and environment.</p> </div> <div class="glue-carousel__item" id="orange-soda-all-glue-carousel-3" aria-label="Step 3"> <p>These scores are combined and the highest combination is chosen. This gives a step that is possible and useful for the request. The robot then executes that step and repeats this process in the new state.</p> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> <div class="glue-grid__col glue-grid__col--span-8"> <div class="execution-breakdown__card"> <div class="execution-breakdown" data-animate="True"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0271" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0197" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0982" data-affordance-score="0.0817" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0071" data-affordance-score="0.9632" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> <ul class="execution-breakdown__reference"> <li>Language</li> <li>Affordance</li> <li>Combined score</li> </ul> </div> </div> </div> <div class="glue-expansion-panels" data-glue-expansion-panels-key="execution-breakdown-panel-group-7"> <div class="glue-expansion-panel execution-breakdown__list-panel"> <h3 class="glue-expansion-panel__toggle"> <span class="glue-expansion-panel__button" data-glue-expansion-panel-toggle-for="execution-breakdown-content-7"> <span class="glue-expansion-panel__header-text glue-body"> See how the helper robot uses PaLM-SayCan to breakdown and execute successfully. </span> <svg role="presentation" aria-hidden="true" class="glue-icon glue-expansion-panel__header-arrow"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#expand-more"></use> </svg> </span> </h3> <div class="glue-expansion-panel__content" id="execution-breakdown-content-7" data-glue-expansion-panel-initial="expanded"> <ol class="execution-breakdown__list"> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0271" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0197" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0982" data-affordance-score="0.0817" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0071" data-affordance-score="0.9632" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.9607" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0143" data-affordance-score="0.8004" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0096" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.7904" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.4645" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8006" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1472" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.18</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0210" data-affordance-score="0.7905" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0015" data-affordance-score="0.7652" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.8611" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.8004" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8000" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0655" data-affordance-score="0.2188" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0090" data-affordance-score="0.9640" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0104" data-affordance-score="0.8000" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0054" data-affordance-score="0.9640" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7055" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0074" data-affordance-score="0.7915" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0016" data-affordance-score="0.9032" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7665" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7913" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0020" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.7663" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8018" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7663" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0249" data-affordance-score="0.7904" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0043" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0046" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0035" data-affordance-score="0.7904" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0371" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0297" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">find a coke</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0982" data-affordance-score="0.0817" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0071" data-affordance-score="0.9632" > <p class="execution-breakdown__option-title">find a pepsi</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8157" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0045" data-affordance-score="0.7901" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.4129" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7648" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7896" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.7644" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8601" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7999" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1057" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0011" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7912" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> <li> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.7912" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7912" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7912" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8678" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </li> </ol> <div class="glue-carousel execution-breakdown__carousel" aria-label=""> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Go to the previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button>  <button class="glue-carousel__button glue-carousel__button--next" aria-label="Go to the next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-1" aria-label="Step 1"> <span class="execution-breakdown__carousel-item__index">1.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0271" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0197" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0982" data-affordance-score="0.0817" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0071" data-affordance-score="0.9632" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-2" aria-label="Step 2"> <span class="execution-breakdown__carousel-item__index">2.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.9607" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0143" data-affordance-score="0.8004" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0096" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.7904" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.4645" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-3" aria-label="Step 3"> <span class="execution-breakdown__carousel-item__index">3.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8006" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1472" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.18</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0210" data-affordance-score="0.7905" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0015" data-affordance-score="0.7652" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.8611" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-4" aria-label="Step 4"> <span class="execution-breakdown__carousel-item__index">4.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.8004" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the redbull</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0003" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-5" aria-label="Step 5"> <span class="execution-breakdown__carousel-item__index">5.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8000" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0655" data-affordance-score="0.2188" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0090" data-affordance-score="0.9640" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0104" data-affordance-score="0.8000" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0054" data-affordance-score="0.9640" > <p class="execution-breakdown__option-title">find an energy bar</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-6" aria-label="Step 6"> <span class="execution-breakdown__carousel-item__index">6.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7055" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0074" data-affordance-score="0.7915" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0016" data-affordance-score="0.9032" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7665" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-7" aria-label="Step 7"> <span class="execution-breakdown__carousel-item__index">7.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7913" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0020" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.7663" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.8018" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7663" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-8" aria-label="Step 8"> <span class="execution-breakdown__carousel-item__index">8.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0249" data-affordance-score="0.7904" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0043" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0046" data-affordance-score="0.8802" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0035" data-affordance-score="0.7904" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-9" aria-label="Step 9"> <span class="execution-breakdown__carousel-item__index">9.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0371" data-affordance-score="0.8009" > <p class="execution-breakdown__option-title">find a 7up</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.03</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0297" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">find a coke</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.02</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0982" data-affordance-score="0.0817" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0071" data-affordance-score="0.9632" > <p class="execution-breakdown__option-title">find a pepsi</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-10" aria-label="Step 10"> <span class="execution-breakdown__carousel-item__index">10.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.8157" > <p class="execution-breakdown__option-title">pick up the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0045" data-affordance-score="0.7901" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0002" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0004" data-affordance-score="0.4129" > <p class="execution-breakdown__option-title">pick up the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7648" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-11" aria-label="Step 11"> <span class="execution-breakdown__carousel-item__index">11.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.7896" > <p class="execution-breakdown__option-title">bring it to you</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0006" data-affordance-score="0.7644" > <p class="execution-breakdown__option-title">go to the table</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8601" > <p class="execution-breakdown__option-title">go to the close counter</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.7999" > <p class="execution-breakdown__option-title">go to the trash</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-12" aria-label="Step 12"> <span class="execution-breakdown__carousel-item__index">12.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.1057" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0011" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7912" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="1.0000" > <p class="execution-breakdown__option-title">put down the water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> <div class="glue-carousel__item execution-breakdown__carousel-item" id="orange-soda-all-execution-13" aria-label="Step 13"> <span class="execution-breakdown__carousel-item__index">13.</span> <div class="execution-breakdown" data-animate="False"> <div class="execution-breakdown__option" data-llm-score="1.0000" data-affordance-score="0.1000" > <p class="execution-breakdown__option-title">done</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>1.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0010" data-affordance-score="0.7912" > <p class="execution-breakdown__option-title">find an orange soda</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.01</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7912" > <p class="execution-breakdown__option-title">find a sponge</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0001" data-affordance-score="0.7912" > <p class="execution-breakdown__option-title">find a water</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> <div class="execution-breakdown__option" data-llm-score="0.0000" data-affordance-score="0.8678" > <p class="execution-breakdown__option-title">find an apple</p> <div class="execution-breakdown__option-vars"> <span></span> <span></span> </div> <div class="execution-breakdown__option-score"> <span>0.00</span> </div> </div> </div> </div> </div> </div> <div class="glue-carousel__navigation" aria-label=""></div> </div> </div> </div> </div> </div> </div> <section class="call-to-actions glue-page glue-text-center"> <a class="next-task-btn glue-button glue-button--high-emphasis glue-button--rounded-border" href="#interpretation" aria-label="Next task" > Next task <svg aria-label="arrow-forward" role="img" class="glue-icon"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#arrow-forward"></use> </svg> </a> </section> </div> </div> <div class="spacer-module spacer-sm7"></div> <div class="glue-page _3 title-blocks"> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-2"></div> <div class="glue-grid__col glue-grid__col--span-8"> <h2 class="glue-headline glue-headline--headline-2 glue-text-center" aria-label="Discover more" >Discover more</h2> </div> </div> </div> <div class="spacer-module spacer-sm5"></div> <div class="card-carousels glue-page"> <div class="glue-grid"> <div class="glue-grid__col glue-grid__col--span-1"></div> <div class="glue-grid__col glue-grid__col--span-10"> <div class="glue-carousel glue-carousel--cards" aria-label="Discover more"> <button class="glue-carousel__button glue-carousel__button--prev" aria-label="Previous slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-left"></use> </svg> </button> <button class="glue-carousel__button glue-carousel__button--next" aria-label="Next slide"> <svg role="presentation" aria-hidden="true" class="glue-icon glue-icon--32px"> <use xlink:href="/palm-saycan/static/glue-icons.svg?cache=dc161b5#chevron-right"></use> </svg> </button> <div class="glue-carousel__viewport"> <div class="glue-carousel__list"> <div class="glue-carousel__item glue-card" id="glue-carousel-1"> <div class="glue-card cards"> <div class="glue-card__inner"> <picture class="glue-card__asset" >  <source srcset="https://lh3.googleusercontent.com/rvjIR7HZ1glp62rk864HFArg-3eIBoRV2b8IvFkrzUGcU9wJBwEK_vfwtWq0C2_ArFk-ecV8fpR6yY-GDEO3MN7V10fgulHGLpICD0PPbsUgsb_J3A=w416-rp, https://lh3.googleusercontent.com/rvjIR7HZ1glp62rk864HFArg-3eIBoRV2b8IvFkrzUGcU9wJBwEK_vfwtWq0C2_ArFk-ecV8fpR6yY-GDEO3MN7V10fgulHGLpICD0PPbsUgsb_J3A=w832-rp 2x" >  <img src="https://lh3.googleusercontent.com/rvjIR7HZ1glp62rk864HFArg-3eIBoRV2b8IvFkrzUGcU9wJBwEK_vfwtWq0C2_ArFk-ecV8fpR6yY-GDEO3MN7V10fgulHGLpICD0PPbsUgsb_J3A=w416-rp" class="" alt="More about Google Research’s PaLM language model"> </picture> <div class="glue-card__content"> <p class="glue-label"></p> <p class="glue-headline glue-headline--headline-5">Announcing PaLM: Pathways Language Model</p> <p class="glue-card__description">Scaling to 540 Billion Parameters for Breakthrough Performance.</p> </div> <div class="glue-card-links"> <a href="https://ai.googleblog.com/2022/04/pathways-language-model-palm-scaling-to.html" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Blog Post </span> </a> <a href="https://arxiv.org/pdf/2204.02311.pdf" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Paper </span> </a> </div> </div> </div> </div> <div class="glue-carousel__item glue-card" id="glue-carousel-2"> <div class="glue-card cards"> <div class="glue-card__inner"> <picture class="glue-card__asset" >  <source srcset="https://lh3.googleusercontent.com/F_qCeYWiL0xDBlRFaYzF4pONsQBKAwMORHsouWjnvez9Fenbo9C5Gd1r0DNZCYCk92W8J10oqNMGHVvkK0X0wC_QtkWvNXOplfQuXaUyrCM53PktGAw=w416-rp, https://lh3.googleusercontent.com/F_qCeYWiL0xDBlRFaYzF4pONsQBKAwMORHsouWjnvez9Fenbo9C5Gd1r0DNZCYCk92W8J10oqNMGHVvkK0X0wC_QtkWvNXOplfQuXaUyrCM53PktGAw=w832-rp 2x" >  <img src="https://lh3.googleusercontent.com/F_qCeYWiL0xDBlRFaYzF4pONsQBKAwMORHsouWjnvez9Fenbo9C5Gd1r0DNZCYCk92W8J10oqNMGHVvkK0X0wC_QtkWvNXOplfQuXaUyrCM53PktGAw=w416-rp" class="" alt="More about SayCan"> </picture> <div class="glue-card__content"> <p class="glue-label"></p> <p class="glue-headline glue-headline--headline-5">PaLM-SayCan: Do As I Can, Not As I Say</p> <p class="glue-card__description">Grounding Language in Robotic Affordances.</p> </div> <div class="glue-card-links"> <a href="https://ai.googleblog.com/2022/08/towards-helpful-robots-grounding.html" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Blog Post </span> </a> <a href="https://say-can.github.io/assets/palm_saycan.pdf" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Paper </span> </a> <a href="https://say-can.github.io/" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Learn More </span> </a> </div> </div> </div> </div> <div class="glue-carousel__item glue-card" id="glue-carousel-3"> <div class="glue-card cards"> <div class="glue-card__inner"> <picture class="glue-card__asset" >  <source srcset="https://lh3.googleusercontent.com/L-DKfLoPj_hG04yAeviixvHo-AWjj_KMyb7Px4iUXMtDA_RzGq_ny2BfBZ2i8X5TCWhapd19QEcIC3T6J-ih9KArvQaUNMNm6WCzZ1Gf-pjNIdb7BBM=w416-rp, https://lh3.googleusercontent.com/L-DKfLoPj_hG04yAeviixvHo-AWjj_KMyb7Px4iUXMtDA_RzGq_ny2BfBZ2i8X5TCWhapd19QEcIC3T6J-ih9KArvQaUNMNm6WCzZ1Gf-pjNIdb7BBM=w832-rp 2x" >  <img src="https://lh3.googleusercontent.com/L-DKfLoPj_hG04yAeviixvHo-AWjj_KMyb7Px4iUXMtDA_RzGq_ny2BfBZ2i8X5TCWhapd19QEcIC3T6J-ih9KArvQaUNMNm6WCzZ1Gf-pjNIdb7BBM=w416-rp" class="" alt="More about Everyday Robots"> </picture> <div class="glue-card__content"> <p class="glue-label"></p> <p class="glue-headline glue-headline--headline-5">Everyday Robots: Helper Robots for a Better Everyday</p> <p class="glue-card__description">We’re a learning robot moonshot at Alphabet, building helper robots for a better everyday.</p> </div> <div class="glue-card-links"> <a href="https://everydayrobots.com/thinking/palm-saycan-googleresearch" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Blog Post </span> </a> <a href="https://everydayrobots.com/" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Learn More </span> </a> <a href="https://www.linkedin.com/company/everydayrobots/" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Follow </span> </a> </div> </div> </div> </div> <div class="glue-carousel__item glue-card" id="glue-carousel-4"> <div class="glue-card cards"> <div class="glue-card__inner"> <picture class="glue-card__asset" >  <source srcset="https://lh3.googleusercontent.com/lym8-f-Zd2xiVT0M4G2-6ZF3YKB0Z3TK3o6jq9uL_MP0LFES3pLaqyo3nSPv9Sm7TaA33CCuxLG0eUhLIUQgEBmG5MXMC5qHrySv0G3t3kR9v3UIFBc=w416-rp, https://lh3.googleusercontent.com/lym8-f-Zd2xiVT0M4G2-6ZF3YKB0Z3TK3o6jq9uL_MP0LFES3pLaqyo3nSPv9Sm7TaA33CCuxLG0eUhLIUQgEBmG5MXMC5qHrySv0G3t3kR9v3UIFBc=w832-rp 2x" >  <img src="https://lh3.googleusercontent.com/lym8-f-Zd2xiVT0M4G2-6ZF3YKB0Z3TK3o6jq9uL_MP0LFES3pLaqyo3nSPv9Sm7TaA33CCuxLG0eUhLIUQgEBmG5MXMC5qHrySv0G3t3kR9v3UIFBc=w416-rp" class="" alt="ResearchBytes: Grounding Language in Robotic Affordances"> </picture> <div class="glue-card__content"> <p class="glue-label"></p> <p class="glue-headline glue-headline--headline-5">ResearchBytes: Grounding Language in Robotic Affordances</p> <p class="glue-card__description">ResearchBytes is a new Google Research YouTube series that converts research publications into byte-sized content.</p> </div> <div class="glue-card-links"> <a href="https://youtu.be/E2R1D8RzOlM" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Watch now </span> </a> </div> </div> </div> </div> <div class="glue-carousel__item glue-card" id="glue-carousel-5"> <div class="glue-card cards"> <div class="glue-card__inner"> <picture class="glue-card__asset" >  <source srcset="https://lh3.googleusercontent.com/_6EoAPRtFgs1UAyhdOOXBCIfVWy_LEXZJNqHIEyrQs5YHNtzwG42hOP7tlwYwsjNUy67vaJ9s5XSVm7WcTgPxxr8XfSN0Nb4JfFkHJb9e4Ldam_tTSZu=w416-rp, https://lh3.googleusercontent.com/_6EoAPRtFgs1UAyhdOOXBCIfVWy_LEXZJNqHIEyrQs5YHNtzwG42hOP7tlwYwsjNUy67vaJ9s5XSVm7WcTgPxxr8XfSN0Nb4JfFkHJb9e4Ldam_tTSZu=w832-rp 2x" >  <img src="https://lh3.googleusercontent.com/_6EoAPRtFgs1UAyhdOOXBCIfVWy_LEXZJNqHIEyrQs5YHNtzwG42hOP7tlwYwsjNUy67vaJ9s5XSVm7WcTgPxxr8XfSN0Nb4JfFkHJb9e4Ldam_tTSZu=w416-rp" class="" alt="Meet a Google Researcher: Introducing Language Models to Robotics"> </picture> <div class="glue-card__content"> <p class="glue-label"></p> <p class="glue-headline glue-headline--headline-5">Meet a Google Researcher: Introducing Language Models to Robotics</p> <p class="glue-card__description">Meet a Google Researcher is a new Google Research YouTube series where you can get to know the researchers and engineers behind the publications.</p> </div> <div class="glue-card-links"> <a href="https://youtu.be/B35jBV1HLsc" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Watch now </span> </a> </div> </div> </div> </div> <div class="glue-carousel__item glue-card" id="glue-carousel-6"> <div class="glue-card cards"> <div class="glue-card__inner"> <picture class="glue-card__asset" >  <source srcset="https://lh3.googleusercontent.com/kd9JBdfAImTe-SpXvCdNyA_Yxe5J6SHjgKa0zbxVpVv8DuizqL2WZEFCysPO1sDXKUqCAXTidKM1eJW6OQXK5aMu6bWgucs50D4E0CPMlVPmPvDNaT-A=w416-rp, https://lh3.googleusercontent.com/kd9JBdfAImTe-SpXvCdNyA_Yxe5J6SHjgKa0zbxVpVv8DuizqL2WZEFCysPO1sDXKUqCAXTidKM1eJW6OQXK5aMu6bWgucs50D4E0CPMlVPmPvDNaT-A=w832-rp 2x" >  <img src="https://lh3.googleusercontent.com/kd9JBdfAImTe-SpXvCdNyA_Yxe5J6SHjgKa0zbxVpVv8DuizqL2WZEFCysPO1sDXKUqCAXTidKM1eJW6OQXK5aMu6bWgucs50D4E0CPMlVPmPvDNaT-A=w416-rp" class="" alt="Open Source Playground with Tabletop Robot"> </picture> <div class="glue-card__content"> <p class="glue-label"></p> <p class="glue-headline glue-headline--headline-5">Open Source Playground with Tabletop Robot</p> <p class="glue-card__description">Try it out with an open source implementation of the approach on a simulated pick-and-place, tabletop environment.</p> </div> <div class="glue-card-links"> <a href="https://github.com/google-research/google-research/tree/master/saycan" target="_blank" class="glue-card__cta"> <span class="glue-button glue-button--low-emphasis"> Try it now </span> </a> </div> </div> </div> </div> </div> </div> <div class="glue-carousel__navigation" aria-label="Choose slide to display"></div> </div> </div> </div> </div> <div class="spacer-module spacer-sm6"></div> </div> </main> <footer class="glue-footer"> <section class="glue-footer__global"> <div class="glue-footer__logo"> <a href="https://www.google.com/" title="Google"> <svg 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