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This paper emphasizes the importance of a robot's ability to refer to itstask history, especially when it executes a series of pick-and-placemanipulations by following language instructions given one by one. Theadvantage of referring to the manipulation history can be categorized into twofolds: (1) the language instructions omitting details but using expressionsreferring to the past can be interpreted, and (2) the visual information ofobjects occluded by previous manipulations can be inferred. For this, weintroduce a history-dependent manipulation task which objective is to visuallyground a series of language instructions for proper pick-and-placemanipulations by referring to the past. We also suggest a relevant dataset andmodel which can be a baseline, and show that our model trained with theproposed dataset can also be applied to the real world based on the CycleGAN.Our dataset and code are publicly available on the project website:https://sites.google.com/view/history-dependent-manipulation.

Visually Grounding Language Instruction for History-Dependent Manipulation